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Dependencies:   LineSensors mbed

DriveController.h@15:150ec9448efc, 2015-04-18 (annotated)

Committer:
Hypna
Date:
Sat Apr 18 02:54:55 2015 +0000
Revision:
15:150ec9448efc
Parent:
13:aa6f64c73271 
experiment

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 0:e60f22c1d573 5
Hypna 0:e60f22c1d573 6 class DriveController
Hypna 0:e60f22c1d573 7 {
Hypna 0:e60f22c1d573 8 private:
Hypna 13:aa6f64c73271 9 PwmOut treadSpeed1;
Hypna 13:aa6f64c73271 10 PwmOut treadSpeed2;
Hypna 2:d0ce8e26cbc4 11
Hypna 13:aa6f64c73271 12 DigitalOut treadDirection1;
Hypna 13:aa6f64c73271 13 DigitalOut treadDirection2;
Hypna 4:ac6b2e5b240b 14
Hypna 15:150ec9448efc 15 DigitalInOut com1;
Hypna 15:150ec9448efc 16 DigitalInOut com2;
Hypna 4:ac6b2e5b240b 17
Hypna 5:f53f06a866e9 18 LineSensors sensors;
Hypna 5:f53f06a866e9 19 bool sensorStates[8][3];
Hypna 0:e60f22c1d573 20
Hypna 13:aa6f64c73271 21 char command;
Hypna 0:e60f22c1d573 22
Hypna 5:f53f06a866e9 23 void move(char direction = 'F');
Hypna 2:d0ce8e26cbc4 24 void getCommand();
Hypna 5:f53f06a866e9 25 void rotate(char direction);
Hypna 12:edcae0f36e9c 26 void spinTest();
Hypna 12:edcae0f36e9c 27 double calculateError();
Hypna 2:d0ce8e26cbc4 28 bool intersection();
Hypna 0:e60f22c1d573 29
Hypna 0:e60f22c1d573 30 public:
Hypna 2:d0ce8e26cbc4 31 DriveController();
Hypna 0:e60f22c1d573 32 void go();
Hypna 0:e60f22c1d573 33 };
Hypna 0:e60f22c1d573 34
Hypna 0:e60f22c1d573 35 #endif