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Dependencies:   mbed

Control/drivecontrol.h@31:f7a8a9b82bc1, 2017-05-28 (annotated)

Committer:
kolanery
Date:
Sun May 28 09:54:40 2017 +0000
Revision:
31:f7a8a9b82bc1
Parent:
30:daf286ac049f 
Update

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 6:1bcfda49e146 15 //float total_error;
kolanery 0:cb667de3a336 16 DriveControl (int start_x, int start_y);
ryan_whr 25:7155cb993870 17 DriveControl () {};
ryan_whr 25:7155cb993870 18
kolanery 0:cb667de3a336 19 ~DriveControl();
kolanery 0:cb667de3a336 20
kolanery 0:cb667de3a336 21 int get_next_direction();
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 15:151e59899221 26 void print_serial_ports();
szh66 8:4a32fc9ee939 27
kolanery 7:7215adbae3da 28 void drive_forward();
kolanery 0:cb667de3a336 29
kolanery 0:cb667de3a336 30 void turn();
kolanery 0:cb667de3a336 31
kolanery 0:cb667de3a336 32 void turn_left();
kolanery 0:cb667de3a336 33
kolanery 0:cb667de3a336 34 void turn_right();
kolanery 0:cb667de3a336 35
kolanery 7:7215adbae3da 36 void turn_around();
kolanery 7:7215adbae3da 37
kolanery 4:73510c7fa316 38 void drive(float speed);
kolanery 4:73510c7fa316 39
kolanery 0:cb667de3a336 40 bool has_front_wall();
kolanery 0:cb667de3a336 41
kolanery 0:cb667de3a336 42 bool has_right_wall();
kolanery 0:cb667de3a336 43
kolanery 0:cb667de3a336 44 bool has_left_wall();
kolanery 14:a646667ac9ea 45
kolanery 14:a646667ac9ea 46 void resetEncoders();
kolanery 14:a646667ac9ea 47
kolanery 16:c26d8e007df5 48 void clear_pid();
kolanery 16:c26d8e007df5 49
kolanery 30:daf286ac049f 50 void set_wall_follower_speed();
kolanery 30:daf286ac049f 51
kolanery 31:f7a8a9b82bc1 52 void set_wall_follower_sensor_thres();
kolanery 31:f7a8a9b82bc1 53
kolanery 14:a646667ac9ea 54 bool should_finish_turn_right();
kolanery 14:a646667ac9ea 55
kolanery 28:600932142201 56 bool right_wall_pid_debug();
kolanery 28:600932142201 57
kolanery 14:a646667ac9ea 58 bool should_finish_turn_left ();
kolanery 14:a646667ac9ea 59
kolanery 14:a646667ac9ea 60 bool should_stop_drive_forward();
kolanery 16:c26d8e007df5 61
kolanery 16:c26d8e007df5 62 bool should_finish_turn_around();
kolanery 16:c26d8e007df5 63
kolanery 16:c26d8e007df5 64 bool should_finish_drive_forward();
kolanery 0:cb667de3a336 65 };
kolanery 0:cb667de3a336 66 #endif