Code to run the microcontrollers on the R5 competition bot
Dependencies: LineSensors mbed
Diff: DriveController.h
- Revision:
- 18:2bd595af51d2
- Parent:
- 17:5046b27f5441
diff -r 5046b27f5441 -r 2bd595af51d2 DriveController.h --- a/DriveController.h Sat Apr 18 03:02:28 2015 +0000 +++ b/DriveController.h Sat Apr 18 03:13:27 2015 +0000 @@ -9,6 +9,8 @@ class DriveController { public: +//private: + typename ::abs_direction orient; PwmOut treadSpeed1; @@ -17,16 +19,21 @@ DigitalOut treadDirection1; DigitalOut treadDirection2; + LineSensors sensors; + bool sensorStates[8][3]; void spinTest(); double calculateError(); bool intersection(); +//public: + DriveController(); void move(typename ::abs_direction dir); void rotate(typename ::abs_direction dir); - LineSensors sensors; + typename ::abs_direction getOrient(); + void setSensors(); }; #endif \ No newline at end of file