File content as of revision 5:757a984ac553:

/**
*   @file   Tracker.h
*
*   @brief  Tracker class implements API for sensing the position of the
*           dump truck.
*
*   @author Terrabots Team
*
*/

#ifndef TRACKER_H
#define TRACKER_H

#include "mbed.h"
#include "QEI.h"

/**
*   @class Tracker
*
*   @brief  Interface for tracking the position of a Dump Truck configured
*   "robot."
*/

#define STRAIGHT    0
#define CCW         1
#define CW          2
#define PI          3.14159265

class Tracker {
    public:
        /**
        *   Constructor for the Tracker object.
        *
        *   @param[in]  _chA     The interrupt pin used for channel A
        *   @param[in]  _chB     The interrupt pin used for channel B
        *   @param[in]  _pot     The AnalogIn pin used for the potentiometer
        */
        Tracker(PinName _chA, PinName _chB, PinName _pot);
        /**
        *   Set initial position and distance traveled to 0.
        */
        void clear();
        /**
        *   Set a reference "zero angle" for the potentiometer and wait five
        *   seconds for the user to set a turning angle.
        */
        void potSetup();
        /**
        *   Set a direction, either clockwise or counterclockwise, for the
        *   dump truck, based on the turning angle.
        */
        void setDirection();
        /**
        *   Check if the dump truck has moved before starting position-tracking
        *   calculations.
        */
        void checkToStart();
        /**
        *   Calculate the x and y position of the dump truck based on sensor
        *   measurements.
        */
        void calcDisplacement();
    private:
        QEI *wheel;
        PinName chA;
        PinName chB;
        AnalogIn pot;
        float pulseCount;
        float encoding;
        float circumference;
        float constant;

        float distance;

        float x;
        float y;

        float value;
        float turnAngle;
        float zeroAngle;

        int dir;

        float df;
        float db;
        float W;
        float R;
        float dispAngle;

};
#endif