TomYumBoys / Mbed 2 deprecated MM2017

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Control/drivecontrol.h@5:d783972dce10, 2017-05-13 (annotated)

Committer:
szh66
Date:
Sat May 13 22:23:23 2017 +0000
Revision:
5:d783972dce10
Parent:
4:73510c7fa316
Child:
6:1bcfda49e146
backup

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
kolanery 0:cb667de3a336 4 /**
kolanery 0:cb667de3a336 5 * Control mouse movements.
kolanery 0:cb667de3a336 6 * - PID Control based on sensor readings.
kolanery 0:cb667de3a336 7 * - Output PWM signals to motors based on feedback loop.
kolanery 0:cb667de3a336 8 * - Provides directional signals to the main control loop.
kolanery 0:cb667de3a336 9 */
kolanery 0:cb667de3a336 10 class DriveControl {
kolanery 0:cb667de3a336 11
kolanery 0:cb667de3a336 12 public:
kolanery 0:cb667de3a336 13 int y;
kolanery 0:cb667de3a336 14 int x;
szh66 5:d783972dce10 15 float total_error;
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 4:73510c7fa316 34 void drive(float speed);
kolanery 4:73510c7fa316 35
kolanery 0:cb667de3a336 36 bool has_front_wall();
kolanery 0:cb667de3a336 37
kolanery 0:cb667de3a336 38 bool has_right_wall();
kolanery 0:cb667de3a336 39
kolanery 0:cb667de3a336 40 bool has_left_wall();
kolanery 0:cb667de3a336 41 };
kolanery 0:cb667de3a336 42 #endif