3/26/16 12:25 am JJ
Dependents: steppertest R5 2016 Robotics Team 1
Fork of scanner by
Diff: scanner.h
- Revision:
- 1:2714d60284ef
- Parent:
- 0:999bb8fcd0b2
--- a/scanner.h Wed Feb 17 16:47:55 2016 +0000 +++ b/scanner.h Tue Feb 23 23:30:43 2016 +0000 @@ -9,12 +9,24 @@ public: Scanner(Serial &pc1, PinName _servoL, PinName _servoR, VL6180x &_shortRangeL, VL6180x &_shortRangeR, Gp2x &_longRangeL, - Gp2x &_longRangeR, float _period); - int hunt(); - int avoid(); + Gp2x &_longRangeR, float _period = 0.2); + void hunt(); + void avoid(); int localize(); private: + static const int MIN_DUTY = 0; + static const int MAX_DUTY = 12; + static const int HALF_DUTY = 6; + static const float DELTA_DUTY = 4.2e-3; + float DUTY[13]; // {0.0500, 0.0542, 0.0583, 0.0625, 0.0667, 0.0708, + // 0.0750, 0.0792, 0.0833, 0.0875, 0.0917, 0.0958, + // 0.1000}; + bool pitEnable; + int invertL; + int invertR; + int dutyL; + int dutyR; Serial &pc; PwmOut servoL; PwmOut servoR; @@ -24,7 +36,7 @@ Gp2x &longRangeR; float period; - Ticker pit; // periodic interrupt timer + Ticker pit; // periodic interrupt timer void scan();