Terrabots
/
Tracker2
Made distance public
Fork of Tracker by
Tracker.h
- Committer:
- jcallahan1
- Date:
- 2017-04-23
- Revision:
- 7:58157608cfbe
- Parent:
- 0:8038ea3ee241
File content as of revision 7:58157608cfbe:
#ifndef TRACKER_H #define TRACKER_H #include "mbed.h" #include "QEI.h" #define STRAIGHT 0 #define CCW 1 #define CW 2 #define PI 3.14159265 class Tracker { public: Tracker(PinName _chA, PinName _chB, PinName _pot); void clear(); void potSetup(); void setDirection(); void checkToStart(); void calcDisplacement(); float distance; private: QEI *wheel; PinName chA; PinName chB; AnalogIn pot; float pulseCount; float encoding; float circumference; float constant; float x; float y; float value; float turnAngle; float zeroAngle; int dir; float df; float db; float W; float R; float dispAngle; }; #endif