scanner.h

00001 #ifndef SCANNER_H
00002 #define SCANNER_H
00003 #include "mbed.h"
00004 #include "LongRangeSensor.h"
00005 #include "ShortRangeSensor.h"
00006 #include "StepperDrive.h"
00007 #include "Gripper.h"
00008 #include <stack>
00009 
00010 class Scanner
00011 {
00012 public:
00013     Scanner(Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR,
00014         ShortRangeSensor &_shortRangeL, ShortRangeSensor &_shortRangeR, 
00015         LongRangeSensor &_longRangeL, LongRangeSensor &_longRangeR,
00016         Gripper &_robotGrip, float _period = 0.2, ColorSensor colorSensor);
00017     void huntMode();
00018     void hunt();
00019     void avoidMode();
00020     void localize();
00021     void localizeRight();
00022     void localizeLeft();
00023     void localizeRightMode();
00024     void localizeLeftMode();
00025     float getDistLeft() {return distLeft;}
00026     float getDistRight() {return distRight;}
00027     float getDistForwardL() {return distForwardL;}
00028     float getDistForwardR() {return distForwardR;}
00029     void setLocalizeRightFlag(bool value) {localizeRightFlag = value;}
00030     void setLocalizeLeftFlag(bool value) {localizeLeftFlag = value;}
00031     bool getYellowFlag() {return yellowFlag;}
00032     bool getObjectFound() {return objectFound;}
00033 
00034 private:
00035     static const int YELLOW = 1;
00036     static const int RED = 0;
00037     static const int MIN_DUTY = 0;
00038     static const int MAX_DUTY = 6;
00039     static const int HALF_DUTY = 3;
00040     static const float DELTA_DUTY = 4.2e-3;
00041     float DUTY[13]; // {0.0500, 0.0542, 0.0583, 0.0625, 0.0667, 0.0708,
00042                     // 0.0750, 0.0792, 0.0833, 0.0875, 0.0917, 0.0958,
00043                     // 0.1000};
00044     bool pitEnable;
00045     int invertL;
00046     int invertR;
00047     int dutyL;
00048     int dutyR;
00049     float distLeft;
00050     float distRight;
00051     float distForwardL;
00052     float distForwardR;
00053     Serial &pc;
00054     StepperDrive &drive;
00055     PwmOut servoL;
00056     PwmOut servoR;
00057     ShortRangeSensor &shortRangeL;
00058     ShortRangeSensor &shortRangeR;
00059     LongRangeSensor &longRangeL;
00060     LongRangeSensor &longRangeR;
00061     Gripper &robotGrip;
00062     float period;
00063     bool obstacle;
00064     bool huntFlag;
00065     bool avoidFlag; 
00066     bool objectFound;
00067     bool localizeRightFlag;
00068     bool localizeLeftFlag;
00069     bool yellowFlag;
00070     
00071     struct huntMove
00072     {
00073         float distance;
00074         float angle;
00075     };
00076 
00077     Ticker scanPit; // periodic interrupt timer
00078 
00079     void scan();
00080 
00081     std::stack<huntMove> myStack;
00082 };
00083 
00084 #endif // SCANNER_H