![](/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:
- 2014-09-24
- Revision:
- 1:fa6eb0c33b2f
- Parent:
- 0:e60f22c1d573
- Child:
- 2:d0ce8e26cbc4
File content as of revision 1:fa6eb0c33b2f:
#ifndef DRIVECONTROLLER_H #define DRIVECONTROLLER_H #include "mbed.h" enum Direction { NORTH, SOUTH, EAST, WEST }; class DriveController { private: DigitalOut wheel1(PTC1); DigitalOut wheel2(PTC2); DigitalOut wheel3(PTE29); DigitalOut wheel4(PTE30); DigitalIn floorSensor1(PTC7); DigitalIn floorSensor2(PTC0); DigitalIn floorSensor3(PTC3); DigitalIn floorSensor4(PTC4); DigitalIn floorSensor5(PTC5); DigitalIn floorSensor6(PTC6); DigitalIn floorSensor7(PTC10); DigitalIn floorSensor8(PTC11); DigitalIn floorSensor9(PTC9); DigitalIn floorSensor10(PTC8); DigitalIn floorSensor11(PTA5); DigitalIn floorSensor12(PTA4); DigitalIn floorSensor13(PTA12); DigitalIn floorSensor14(PTD4); DigitalIn floorSensor15(PTA2); DigitalIn floorSensor16(PTA1); DigitalIn floorSensor17(PTC12); DigitalIn floorSensor18(PTC13); DigitalIn floorSensor19(PTC16); DigitalIn floorSensor20(PTC17); DigitalIn floorSensor21(PTD2); DigitalIn floorSensor22(PTD0); DigitalIn floorSensor23(PTD5); DigitalIn floorSensor24(PTD13); Direction orientation = NORTH; bool sensorArray[24]; void move(Direction); void readSensors(); public: void go(); }; #endif