Diff: navcontroller.h

Revision:

17:5046b27f5441

Child:

19:9f4510646c9e

diff -r b49db5c8e16c -r 5046b27f5441 navcontroller.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/navcontroller.h	Sat Apr 18 03:02:28 2015 +0000
@@ -0,0 +1,42 @@
+#ifndef NAVCONTROLLER_H
+#define NAVCONTROLLER_H
+
+#include "r5map.h"
+#include <stack>
+#include <vector>
+
+#define SENS_FORWARD 7
+#define SENS_RIGHT 0
+#define SENS_BACK 2
+#define SENS_LEFT 3
+#define PIN_INT_1 4
+#define PIN_INT_2 5
+#define FRDM_ADD 0x0A
+
+class NavController
+{
+    public:
+    NavController(int mapSize = 5);
+    void explore();                     //moves bot through the unknown maze
+    void goBack();                      //returns bot to the origin
+    void saveMap();                     //saves map information to file
+    void pinWrite(int, int);
+    void waitingForInterrupt(int, int);
+    void testWithDelay();
+    void testWithoutDelay();
+
+    private:
+    typename ::position end;
+    typename ::direction nextExploreMove();         //calculates the next move in maze exploration
+    void sendMove(typename ::direction next);                   //sends a move command to the freedom board via i2c
+    void updateMap();                   //records all the sensor information into the map object
+    bool readSensor(typename ::direction wall); //returns true if there is a wall in direction "wall"
+    char readWall(typename ::direction wall);       //returns the character written on the wall in the direction of 'wall'
+
+    typename ::R5Map map;
+    typename ::direction orient;                    //current orientation of the bot
+    stack<typename ::direction> path;               //a record of the bots path
+    void initIO();
+};
+
+#endif