Diff: DumpTruck.h

Revision:

10:cf77da9be0b8

Parent:

8:9c94865bd087

Child:

12:502cf4fc6d98

--- a/DumpTruck.h	Tue Feb 14 14:46:37 2017 -0500
+++ b/DumpTruck.h	Tue Feb 28 21:11:48 2017 +0000
@@ -1,110 +1,93 @@
 /**
 *   @file   DumpTruck.h
 *
-*   @brief  DumpTruck class implements API for commanding the dump truck and
-*           for implementing proprioceptive sensing.
+*   @brief  DumpTruck class integrates multiple sensors into one API.
 *
 *   @author Terrabots Team
 *
 */
 
-
 #ifndef MBED_DUMP_TRUCK_H
 #define MBED_DUMP_TRUCK_H
- 
+
 #include "mbed.h"
+#include "Tracker.h"
+//#include "IMU.h"
+#include "Motor.h"
+//#include "Transceiver.h"
+#include "SRF05.h"
+
+// ADD SWITCHES & ULTRASONIC SENSOR implementation
 
 /**
 *   @class DumpTruck
 *
-*   @brief  Interface for controlling a Dump Truck configured "robot."
+*   @brief  Interface for controlling a Dump truck.
 */
+
 class DumpTruck {
 public:
-
     /**
-    *   Constructor for the DumpTruck object.
+    *   Constructor for the Tracker object.
     *
-    *   @param[in]  truckId     Not sure.
+    *   @param[in]  truckId     The dump truck's identifier
     */
     DumpTruck(int truckId);
 
-    /**
-    *   Command the dump truck to drive with a desired sped for a specified
-    *   distance.
-    *
-    *   @param[in]  mSpeed  The desired motor speed.
-    *   @param[in]  dDist   The desired driver distance.
+    // motor functions
+    /*
+    *   Drive a certain distance at a desired speed.
+    */
+    void driveDistance(float speed, float distance);// frontMotor
+    /*
+    *   Drive at a desired speed.
     */
-    void drive(); // Drive DC motors with a desired motor speed and distance
-
-    /**
-    *   Command the dump truck to stop.
-    *
+    void drive(float speed);
+    /*
+    *   Turn the rear wheels a certain angle.
     */
-    void stop();
-
-    /**
-    *   Perform calibration routine.  It will ... FILL OUT
-    *
+    void turn(float angle);                 // turnMotor
+    /*
+    *   Move the dump truck's bed up/down a certain angle.
     */
-    void Calibrate();
+    void moveBed(bool raise, float angle);  // bedMotor
+    /*
+    *   Stop driving.
+    */
+    void stop();                            // all Motors
 
-    /**
-    *   WHAT IS THIS ABOUT?
-    *
-    */
-    //void RotateTo();
-
-    /**
-    *   Move the bed to the fully down position.  The down switch should
-    *   engage.
-    *
+    // ultrasonic functions
+    /*
+    *   Read from the ultrasonic sensor and determine the dump truck's
+    *   proximity from objects.
     */
-    void BedDown(); 
-
-    /**
-    *   Move the bed to the fully up position.  The up switch should
-    *   engage.
-    *
-    */
-    void BedUp();   
-
-    /**
-    *   Raise the bed to the desired angle.  Only effective if the bed angle
-    *   estimate has been zeroed out.
-    *
-    */
-    //void raiseTo();
+    bool detect();                          // returns bool for object too close
 
 
-    /**
-    *   NOT SURE.  HOW DIFFERENT FROM ABOVE? raiseTo should raise to any
-    *   arbitrary angle within limits.
-    *
-    */
-    //void LowerBed();
-    
-  
 protected:
+    Tracker *track;
+    //IMU *bed;
+    Motor *frontMotor;
+    Motor *turnMotor;
+    Motor *bedMotor;
+    //Transceiver *nrf;
+    SRF05 *srf;
+
+    // add direct control for motor, switch, and ultrasonic sensor.
+
     int truckNumber;
-    float speed;                 // desired speed to drive the robot, a number between -1 and 1
-    float distance;  
-    float getDistance();            // input of desired distance to be traveled
-    float setTruckSpeed();       // set truck speed
-    float setTruckDistance();    // set distance to be traveled
-    //getBedAngle(); //Get data from Bed potentiometer, Hari is looking into the component for this
-    //getPivotAngle(double PivotAngle); //Get data from potentiometer
-    //SetPivotSpeed(double PivotSpeed); //Set arbitrary rotation of servo motor
-    //SetBedSpeed(); //Set arbitrary rotation of DC Motor
-    //bool GetBedUpperSwitch(); //Checks if bed is all the way up
-    //bool GetBedLowerSwitch(); //Checks if bed is all the way down
-    //bool SwitchState; //Switch state variable for Up and down bed functions
-    //float DesiredPivotAngle; // User Input of desired angle for the bed to be pivoted
-    //float DesiredBedAngle; //User Input of desired bed angle to be raised.
-    //float BedSpeed; //User input of desired speed for the dump truck's bed to rotate
-    //float PivotSpeed; //User input of desired speed for the dump truck to pivot its back at
-    
-    //bool isCalibrated;// returns 0 and 1 to check if the robot has been calibrated
+
+    // motor variables
+    float speed;                            // drive
+    float distance;                         // drive
+    float potAngle;                         // turn
+    float bedAngle;                         // bed
+
+    // bed-specific variables
+    bool switchState;   // BusIn the two limit switches
+
+    // ultrasonic-specific variables
+    bool tooClose;
+    float proximity;
 };
 #endif