3/26/16 12:25 am JJ
Dependents: steppertest R5 2016 Robotics Team 1
Fork of scanner by
Diff: scanner.h
- Revision:
- 7:52c4be3bfc1b
- Parent:
- 6:5e24ff86b743
- Child:
- 8:32a445ae1d72
diff -r 5e24ff86b743 -r 52c4be3bfc1b scanner.h --- a/scanner.h Fri Mar 25 19:51:11 2016 +0000 +++ b/scanner.h Sat Mar 26 05:09:29 2016 +0000 @@ -3,15 +3,17 @@ #include "mbed.h" #include "LongRangeSensor.h" #include "VL6180x.h" +#include "StepperDrive.h" class Scanner { public: - Scanner(Serial &pc1, PinName _servoL, PinName _servoR, + Scanner(Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR, VL6180x &_shortRangeL, VL6180x &_shortRangeR, LongRangeSensor &_longRangeL, LongRangeSensor &_longRangeR, float _period = 0.2); void huntMode(); + void hunt(); void avoidMode(); void localize(); void localizeRight(); @@ -39,6 +41,7 @@ float distForwardL; float distForwardR; Serial &pc; + StepperDrive &drive; PwmOut servoL; PwmOut servoR; VL6180x &shortRangeL;