![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Code to run the microcontrollers on the R5 competition bot
Dependencies: LineSensors mbed
DriveController.h
- Committer:
- Hypna
- Date:
- 2014-10-24
- Revision:
- 9:01c17b286a99
- Parent:
- 5:f53f06a866e9
- Child:
- 10:210c8f1e3a92
File content as of revision 9:01c17b286a99:
#ifndef DRIVECONTROLLER_H #define DRIVECONTROLLER_H #include "mbed.h" #include "LineSensors.h" #include <fstream> class DriveController { private: ofstream debugLog; PwmOut wheelSpeed1; PwmOut wheelSpeed2; PwmOut wheelSpeed3; PwmOut wheelSpeed4; DigitalOut wheelDirection1; DigitalOut wheelDirection2; DigitalOut wheelDirection3; DigitalOut wheelDirection4; I2CSlave i2c; LineSensors sensors; bool sensorStates[8][3]; int command; int edge; void move(char direction = 'F'); void getCommand(); void rotate(char direction); void sendComplete(); int calculateError(); bool intersection(); public: DriveController(); void go(); }; #endif