Terrabots / Mbed 2 deprecated Tracker2

Made distance public

Dependencies:   QEI mbed

Fork of Tracker by Terrabots

Tracker.h@7:58157608cfbe, 2017-04-23 (annotated)

Committer:
jcallahan1
Date:
Sun Apr 23 18:57:31 2017 +0000
Revision:
7:58157608cfbe
Parent:
0:8038ea3ee241 
Made "distance" public

Who changed what in which revision?

UserRevisionLine numberNew contents of line
simplyellow 0:8038ea3ee241 1 #ifndef TRACKER_H
simplyellow 0:8038ea3ee241 2 #define TRACKER_H
simplyellow 0:8038ea3ee241 3
simplyellow 0:8038ea3ee241 4 #include "mbed.h"
simplyellow 0:8038ea3ee241 5 #include "QEI.h"
simplyellow 0:8038ea3ee241 6
simplyellow 0:8038ea3ee241 7 #define STRAIGHT 0
simplyellow 0:8038ea3ee241 8 #define CCW 1
simplyellow 0:8038ea3ee241 9 #define CW 2
simplyellow 0:8038ea3ee241 10 #define PI 3.14159265
simplyellow 0:8038ea3ee241 11
simplyellow 0:8038ea3ee241 12 class Tracker {
simplyellow 0:8038ea3ee241 13 public:
simplyellow 0:8038ea3ee241 14 Tracker(PinName _chA, PinName _chB, PinName _pot);
simplyellow 0:8038ea3ee241 15 void clear();
simplyellow 0:8038ea3ee241 16 void potSetup();
simplyellow 0:8038ea3ee241 17 void setDirection();
simplyellow 0:8038ea3ee241 18 void checkToStart();
simplyellow 0:8038ea3ee241 19 void calcDisplacement();
jcallahan1 7:58157608cfbe 20
jcallahan1 7:58157608cfbe 21 float distance;
jcallahan1 7:58157608cfbe 22
simplyellow 0:8038ea3ee241 23 private:
simplyellow 0:8038ea3ee241 24 QEI *wheel;
simplyellow 0:8038ea3ee241 25 PinName chA;
simplyellow 0:8038ea3ee241 26 PinName chB;
simplyellow 0:8038ea3ee241 27 AnalogIn pot;
simplyellow 0:8038ea3ee241 28 float pulseCount;
simplyellow 0:8038ea3ee241 29 float encoding;
simplyellow 0:8038ea3ee241 30 float circumference;
simplyellow 0:8038ea3ee241 31 float constant;
simplyellow 0:8038ea3ee241 32
jcallahan1 7:58157608cfbe 33
simplyellow 0:8038ea3ee241 34
simplyellow 0:8038ea3ee241 35 float x;
simplyellow 0:8038ea3ee241 36 float y;
simplyellow 0:8038ea3ee241 37
simplyellow 0:8038ea3ee241 38 float value;
simplyellow 0:8038ea3ee241 39 float turnAngle;
simplyellow 0:8038ea3ee241 40 float zeroAngle;
simplyellow 0:8038ea3ee241 41
simplyellow 0:8038ea3ee241 42 int dir;
simplyellow 0:8038ea3ee241 43
simplyellow 0:8038ea3ee241 44 float df;
simplyellow 0:8038ea3ee241 45 float db;
simplyellow 0:8038ea3ee241 46 float W;
simplyellow 0:8038ea3ee241 47 float R;
simplyellow 0:8038ea3ee241 48 float dispAngle;
simplyellow 0:8038ea3ee241 49
simplyellow 0:8038ea3ee241 50 };
simplyellow 0:8038ea3ee241 51 #endif