File content as of revision 4:ac6b2e5b240b:

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

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

struct Command
{
    Direction direction;
    int distance;
};

class DriveController
{
private:
    PwmOut wheelSpeed1;
    PwmOut wheelSpeed2;
    PwmOut wheelSpeed3;
    PwmOut wheelSpeed4;
    
    DigitalOut wheelDirection1;
    DigitalOut wheelDirection2;
    DigitalOut wheelDirection3;
    DigitalOut wheelDirection4;
    
    list <DigitalInOut> sensors;
    
    I2C i2c;
    
    bool sensorStates[24];
       
    Direction orientation;
    
    Command command;
    
    void move();
    void getCommand();
    void rotate(Direction);
    void forward(double);
    void readSensors();
    void sendComplete();
    double calculateError();
    bool intersection();
    
public:
    DriveController();
    void go();
};

#endif