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Dependencies:   mbed

Control/drivecontrol.h@0:cb667de3a336, 2017-05-06 (annotated)

Committer:
kolanery
Date:
Sat May 06 19:34:26 2017 +0000
Revision:
0:cb667de3a336
Child:
2:619b02232144
update baseline code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kolanery 0:cb667de3a336 1 #ifndef __DRIVE_CONTROL_H__
kolanery 0:cb667de3a336 2 #define __DRIVE_CONTROL_H__
kolanery 0:cb667de3a336 3 #include "motor.h"
kolanery 0:cb667de3a336 4
kolanery 0:cb667de3a336 5 /**
kolanery 0:cb667de3a336 6 * Control mouse movements.
kolanery 0:cb667de3a336 7 * - PID Control based on sensor readings.
kolanery 0:cb667de3a336 8 * - Output PWM signals to motors based on feedback loop.
kolanery 0:cb667de3a336 9 * - Provides directional signals to the main control loop.
kolanery 0:cb667de3a336 10 */
kolanery 0:cb667de3a336 11 class DriveControl {
kolanery 0:cb667de3a336 12
kolanery 0:cb667de3a336 13 public:
kolanery 0:cb667de3a336 14 int y;
kolanery 0:cb667de3a336 15 int x;
kolanery 0:cb667de3a336 16 DriveControl (int start_x, int start_y);
kolanery 0:cb667de3a336 17 ~DriveControl();
kolanery 0:cb667de3a336 18
kolanery 0:cb667de3a336 19 int get_next_direction();
kolanery 0:cb667de3a336 20
kolanery 0:cb667de3a336 21 int get_next_state(int state);
kolanery 0:cb667de3a336 22
kolanery 0:cb667de3a336 23 // Stops both motors. Assume no coasting.
kolanery 0:cb667de3a336 24 void stop();
kolanery 0:cb667de3a336 25
kolanery 0:cb667de3a336 26 void drive_one_forward();
kolanery 0:cb667de3a336 27
kolanery 0:cb667de3a336 28 void turn();
kolanery 0:cb667de3a336 29
kolanery 0:cb667de3a336 30 void turn_left();
kolanery 0:cb667de3a336 31
kolanery 0:cb667de3a336 32 void turn_right();
kolanery 0:cb667de3a336 33
kolanery 0:cb667de3a336 34 bool has_front_wall();
kolanery 0:cb667de3a336 35
kolanery 0:cb667de3a336 36 bool has_right_wall();
kolanery 0:cb667de3a336 37
kolanery 0:cb667de3a336 38 bool has_left_wall();
kolanery 0:cb667de3a336 39 };
kolanery 0:cb667de3a336 40 #endif