Texas State IEEE / Mbed 2 deprecated R5

Code to run the microcontrollers on the R5 competition bot

Dependencies:   LineSensors mbed

DriveController.h@2:d0ce8e26cbc4, 2014-10-03 (annotated)

Committer:
Hypna
Date:
Fri Oct 03 03:48:39 2014 +0000
Revision:
2:d0ce8e26cbc4
Parent:
1:fa6eb0c33b2f
Child:
3:0d7687b6ef14
a little more

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Hypna 0:e60f22c1d573 1 #ifndef DRIVECONTROLLER_H
Hypna 0:e60f22c1d573 2 #define DRIVECONTROLLER_H
Hypna 0:e60f22c1d573 3 #include "mbed.h"
Hypna 0:e60f22c1d573 4
Hypna 0:e60f22c1d573 5 enum Direction
Hypna 0:e60f22c1d573 6 {
Hypna 2:d0ce8e26cbc4 7 North, South, East, West;
Hypna 2:d0ce8e26cbc4 8 };
Hypna 2:d0ce8e26cbc4 9
Hypna 2:d0ce8e26cbc4 10 struct Command
Hypna 2:d0ce8e26cbc4 11 {
Hypna 2:d0ce8e26cbc4 12 Direction direction = NORTH;
Hypna 2:d0ce8e26cbc4 13 int distance;
Hypna 0:e60f22c1d573 14 };
Hypna 0:e60f22c1d573 15
Hypna 0:e60f22c1d573 16 class DriveController
Hypna 0:e60f22c1d573 17 {
Hypna 0:e60f22c1d573 18 private:
Hypna 2:d0ce8e26cbc4 19 DigitalOut wheels[4] = {{PTC1}, {PTC2}, {PTE29}, {PTE30}};
Hypna 2:d0ce8e26cbc4 20
Hypna 2:d0ce8e26cbc4 21 DigitalIn sensors[24] = {{PTC7}, {PTC0}, {PTC3}, {PTC4}, {PTC5}, {PTC6}, {PTC10}, {PTC11}, {PTC9},
Hypna 2:d0ce8e26cbc4 22 {PTC8}, {PTA5}, {PTA4}, {PTA12}, {PTD4}, {PTA2}, {PTA1}, {PTC12}, {PTC13}, {PTC16}, {PTC17},
Hypna 2:d0ce8e26cbc4 23 {PTD2}, {PTD0}, {PTD5}, {PTD13}};
Hypna 2:d0ce8e26cbc4 24
Hypna 2:d0ce8e26cbc4 25 bool sensorStates[24] = {false};
Hypna 2:d0ce8e26cbc4 26
Hypna 2:d0ce8e26cbc4 27 Direction orientation;
Hypna 0:e60f22c1d573 28
Hypna 2:d0ce8e26cbc4 29 Command command;
Hypna 0:e60f22c1d573 30
Hypna 2:d0ce8e26cbc4 31 void move();
Hypna 2:d0ce8e26cbc4 32 void getCommand();
Hypna 2:d0ce8e26cbc4 33 void rotate();
Hypna 2:d0ce8e26cbc4 34 void forward();
Hypna 0:e60f22c1d573 35 void readSensors();
Hypna 2:d0ce8e26cbc4 36 double calculateError();
Hypna 2:d0ce8e26cbc4 37 bool intersection();
Hypna 0:e60f22c1d573 38
Hypna 0:e60f22c1d573 39 public:
Hypna 2:d0ce8e26cbc4 40 DriveController();
Hypna 0:e60f22c1d573 41 void go();
Hypna 0:e60f22c1d573 42 };
Hypna 0:e60f22c1d573 43
Hypna 0:e60f22c1d573 44 #endif