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MM2017
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Dependencies: mbed
Control/drivecontrol.h@15:151e59899221, 2017-05-20 (annotated)
- Committer:
- kolanery
- Date:
- Sat May 20 05:17:47 2017 +0000
- Revision:
- 15:151e59899221
- Parent:
- 14:a646667ac9ea
- Child:
- 16:c26d8e007df5
update working version
Who changed what in which revision?
| User | Revision | Line number | New 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); |
| 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 | 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 | 14:a646667ac9ea | 48 | bool should_finish_turn_right(); |
| kolanery | 14:a646667ac9ea | 49 | |
| kolanery | 14:a646667ac9ea | 50 | bool should_finish_turn_left (); |
| kolanery | 14:a646667ac9ea | 51 | |
| kolanery | 14:a646667ac9ea | 52 | bool should_stop_drive_forward(); |
| kolanery | 0:cb667de3a336 | 53 | }; |
| kolanery | 0:cb667de3a336 | 54 | #endif |