3/26/16 12:25 am JJ
Dependents: steppertest R5 2016 Robotics Team 1
Fork of scanner by
Diff: scanner.h
- Revision:
- 9:bae63bc84829
- Parent:
- 8:32a445ae1d72
- Child:
- 12:514544a4014f
--- a/scanner.h Sat Mar 26 05:26:17 2016 +0000 +++ b/scanner.h Sat Mar 26 23:01:49 2016 +0000 @@ -4,6 +4,8 @@ #include "LongRangeSensor.h" #include "ShortRangeSensor.h" #include "StepperDrive.h" +#include "Gripper.h" +#include <stack> class Scanner { @@ -11,7 +13,7 @@ Scanner(Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR, ShortRangeSensor &_shortRangeL, ShortRangeSensor &_shortRangeR, LongRangeSensor &_longRangeL, LongRangeSensor &_longRangeR, - float _period = 0.2); + Gripper &_robotGrip, float _period = 0.2); void huntMode(); void hunt(); void avoidMode(); @@ -53,11 +55,18 @@ bool huntFlag; bool avoidFlag; bool objectFound; + + struct huntMove + { + float distance; + float angle; + }; Ticker scanPit; // periodic interrupt timer void scan(); + std::stack<huntMove> myStack; }; #endif // SCANNER_H