Texas State IEEE / Mbed 2 deprecated R5

Code to run the microcontrollers on the R5 competition bot

Dependencies:   LineSensors mbed

DriveController.h@9:01c17b286a99, 2014-10-24 (annotated)

Committer:
Hypna
Date:
Fri Oct 24 22:46:24 2014 +0000
Revision:
9:01c17b286a99
Parent:
5:f53f06a866e9
Child:
10:210c8f1e3a92
Added log file for debugging

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 5:f53f06a866e9 4 #include "LineSensors.h"
Hypna 9:01c17b286a99 5 #include <fstream>
Hypna 0:e60f22c1d573 6
Hypna 0:e60f22c1d573 7 class DriveController
Hypna 0:e60f22c1d573 8 {
Hypna 0:e60f22c1d573 9 private:
Hypna 9:01c17b286a99 10 ofstream debugLog;
Hypna 9:01c17b286a99 11
Hypna 4:ac6b2e5b240b 12 PwmOut wheelSpeed1;
Hypna 4:ac6b2e5b240b 13 PwmOut wheelSpeed2;
Hypna 4:ac6b2e5b240b 14 PwmOut wheelSpeed3;
Hypna 4:ac6b2e5b240b 15 PwmOut wheelSpeed4;
Hypna 2:d0ce8e26cbc4 16
Hypna 4:ac6b2e5b240b 17 DigitalOut wheelDirection1;
Hypna 4:ac6b2e5b240b 18 DigitalOut wheelDirection2;
Hypna 4:ac6b2e5b240b 19 DigitalOut wheelDirection3;
Hypna 4:ac6b2e5b240b 20 DigitalOut wheelDirection4;
Hypna 4:ac6b2e5b240b 21
Hypna 5:f53f06a866e9 22 I2CSlave i2c;
Hypna 4:ac6b2e5b240b 23
Hypna 5:f53f06a866e9 24 LineSensors sensors;
Hypna 5:f53f06a866e9 25 bool sensorStates[8][3];
Hypna 0:e60f22c1d573 26
Hypna 5:f53f06a866e9 27 int command;
Hypna 5:f53f06a866e9 28 int edge;
Hypna 0:e60f22c1d573 29
Hypna 5:f53f06a866e9 30 void move(char direction = 'F');
Hypna 2:d0ce8e26cbc4 31 void getCommand();
Hypna 5:f53f06a866e9 32 void rotate(char direction);
Hypna 4:ac6b2e5b240b 33 void sendComplete();
Hypna 5:f53f06a866e9 34 int calculateError();
Hypna 2:d0ce8e26cbc4 35 bool intersection();
Hypna 0:e60f22c1d573 36
Hypna 0:e60f22c1d573 37 public:
Hypna 2:d0ce8e26cbc4 38 DriveController();
Hypna 0:e60f22c1d573 39 void go();
Hypna 0:e60f22c1d573 40 };
Hypna 0:e60f22c1d573 41
Hypna 0:e60f22c1d573 42 #endif