Diff: scanner.h

Revision:

9:bae63bc84829

Parent:

8:32a445ae1d72

Child:

12:514544a4014f

diff -r 32a445ae1d72 -r bae63bc84829 scanner.h
--- 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