File content as of revision 3:0d7687b6ef14:

#ifndef DRIVECONTROLLER_H
#define DRIVECONTROLLER_H
#include "mbed.h"
#include <list>
#include <string>

enum Direction
{
    NORTH, SOUTH, EAST, WEST
};

struct Command
{
    Direction direction;
    int distance;
};

class DriveController
{
private:
    DigitalOut wheel1;
    DigitalOut wheel2;
    DigitalOut wheel3;
    DigitalOut wheel4;
    
    List<DigitalInOut> sensors;
    
    const string sensorPinNames[] = {"PTC7", "PTC0", "PTC3", "PTC4", "PTC5", "PTC6", "PTC10", "PTC11", "PTC9", "PTC8", "PTA5", "PTA4", "PTA12",
        "PTD4", "PTA2", "PTA1", "PTC12", "PTC13", "PTC16", "PTC17", "PTD2M", "PTD0", "PTD5", "PTD13"}
         
    /*DigitalInOut sensor01;
    DigitalInOut sensor02;
    DigitalInOut sensor03;
    DigitalInOut sensor04;
    DigitalInOut sensor05;
    DigitalInOut sensor06;
    DigitalInOut sensor07;
    DigitalInOut sensor08;
    DigitalInOut sensor09;
    DigitalInOut sensor10;
    DigitalInOut sensor11;
    DigitalInOut sensor12;
    DigitalInOut sensor13;
    DigitalInOut sensor14;
    DigitalInOut sensor15;
    DigitalInOut sensor16;
    DigitalInOut sensor17;
    DigitalInOut sensor18;
    DigitalInOut sensor19;
    DigitalInOut sensor20;
    DigitalInOut sensor21;
    DigitalInOut sensor22;
    DigitalInOut sensor23;
    DigitalInOut sensor24; */
        
    bool sensorStates[24];
       
    Direction orientation;
    
    Command command;
    
    void move();
    void getCommand();
    void rotate();
    void forward();
    void readSensors();
    double calculateError();
    bool intersection();
    
public:
    DriveController();
    void go();
};

#endif