Diff: DumpTruck.h

Revision:

14:192e103d5246

Parent:

13:112b6543909a

diff -r 112b6543909a -r 192e103d5246 DumpTruck.h
--- a/DumpTruck.h	Thu Apr 13 17:32:44 2017 +0000
+++ b/DumpTruck.h	Sun Apr 23 18:59:43 2017 +0000
@@ -16,6 +16,7 @@
 #include "Motor.h"
 #include "nRF24L01P.h" //Transceiver library
 #include "SRF05.h"
+#include "LSM9DS1.h"
 
 //using strings to process commands
 #include <string> 
@@ -89,21 +90,21 @@
     /*
     *   Move the dump truck's bed up/down a certain angle.
     */
-    void moveBed(bool raise, float angle);  // bedMotor
+    void moveBed(bool upper, bool lower, float angle);  // bedMotor
     /*
     *   Stop driving.
     */
-    int stopDrive();                            // all Motors
+    void stopDrive();                            // all Motors
     
     /*
     *   Stop turning.
     */
-    int stopTurn();                            // all Motors
+    void stopTurn();                            // all Motors
 
     /*
     *   Stop bed.
     */
-    int stopBed();                            // all Motors
+    void stopBed();                            // all Motors
 
     // ultrasonic functions
     /*
@@ -128,6 +129,7 @@
     Motor *bedMotor;
     nRF24L01P *nrf; //Transceiver *nrf;
     SRF05 *srf;
+    LSM9DS1 *IMU;
 
     // add direct control for motor, switch, and ultrasonic sensor.
 
@@ -136,11 +138,19 @@
     // motor variables
     float speed;                            // drive
     float distance;                         // drive
+    float startDist;                        // drive
+    float curDist;                          // drive
     float potAngle;                         // turn
     float bedAngle;                         // bed
 
     // bed-specific variables
     bool switchState;   // BusIn the two limit switches
+    float ax0;
+    float ay0;
+    float az0;
+    float ax;
+    float ay;
+    float az;
 
     // ultrasonic-specific variables
     bool tooClose;