Diff: navigation.h

Revision:

1:a53d97b74fab

Parent:

0:fd72f6df078c

Child:

2:17bd430aeca1

--- a/navigation.h	Fri Oct 30 15:48:48 2015 +0000
+++ b/navigation.h	Sun Nov 22 19:32:45 2015 +0000
@@ -1,9 +1,10 @@
 #ifndef NAVIGATION_H
 #define NAVIGATION_H
+#include "StepperMotor.h"
+#include "stdint.h"
+#include "mbed.h"
 #include <vector>
 #include <stack>
-#include "stdint.h"
-#include "mbed.h"
 
 class Navigation
 {
@@ -20,7 +21,7 @@
     int loadMap(char* inputFile);
     void getShortestPath(uint16_t destination);
     uint16_t getMinDist(uint16_t target) { return minDistance[target]; }
-    std::stack<uint16_t> getRoute(uint16_t src, uint16_t target);
+    void executeRoute(StepperMotor &leftMotor, StepperMotor &rightMotor);
     // utility functions
     void printPrevious(Serial &pc);
     void printRoute(Serial &pc);
@@ -31,14 +32,15 @@
     static const uint16_t DEFAULT_VERTEX = 0;
     static const uint16_t DEFAULT_ANGLE = 0;
     static const int DEFAULT_SIZE = 1;
+    static const int STEPS_PER_INCH = 20; //  per wheel diameter and stepper specs
 
-    uint16_t vertex;
-    uint16_t angle;
+    uint16_t vertex; // current vertex
+    uint16_t angle; // current angle
 
     struct graphNode
     {
         uint16_t neighbor;
-        uint16_t distance;
+        uint16_t distance; // in inches
         uint16_t angle;
         graphNode(uint16_t arg_neighbor = MAX_DIST,
                   uint16_t arg_distance = MAX_DIST,