zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Official-TestF

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Dependencies:   Servo ServoArm mbed

Fork of PES_Official by zhaw_st16b_pes2_10

Headers/Robot.h@1:388c915756f5, 2017-03-19 (annotated)

Committer:
beacon
Date:
Sun Mar 19 12:20:26 2017 +0000
Revision:
1:388c915756f5
Parent:
0:d267b248eff4
Child:
2:01e9de508316
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beacon 0:d267b248eff4 1 #ifndef ROBOT_H
beacon 0:d267b248eff4 2 #define ROBOT_H
beacon 0:d267b248eff4 3
beacon 0:d267b248eff4 4 #include <cstdlib>
beacon 0:d267b248eff4 5 #include <mbed.h>
beacon 0:d267b248eff4 6
beacon 0:d267b248eff4 7 #include "mbed.h"
beacon 0:d267b248eff4 8
beacon 1:388c915756f5 9 //DistanceSensors:
beacon 1:388c915756f5 10 #define NEAR 0.1f //Used for distance Sensors. If they're to near to a wall -> turn
beacon 1:388c915756f5 11 #define LEFT 5 //Arrayindex of the left Sensor & left LED
beacon 1:388c915756f5 12 #define FWD 0 //Arrayindex of the front Sensor & front LED
beacon 1:388c915756f5 13 #define RIGHT 1 //Arrayindex of the right Sensor & right LED.
beacon 1:388c915756f5 14
beacon 1:388c915756f5 15 //ColorSensors:
beacon 1:388c915756f5 16 #define RED_UPLIMIT 500 //Default limit in mV
beacon 1:388c915756f5 17 #define GREEN_DOWNLIMIT 501 //Default limit in mV
beacon 1:388c915756f5 18 #define GREEN_UPLIMIT 1200 //Default limit in mV
beacon 1:388c915756f5 19 #define GREEN 1
beacon 1:388c915756f5 20 #define NOBLOCK 0
beacon 1:388c915756f5 21 #define RED -1
beacon 1:388c915756f5 22
beacon 0:d267b248eff4 23
beacon 0:d267b248eff4 24 /* Declarations for the Motors in the Robot in order to drive -------- */
beacon 1:388c915756f5 25
beacon 1:388c915756f5 26 class DistanceSensors
beacon 1:388c915756f5 27 {
beacon 1:388c915756f5 28 public:
beacon 1:388c915756f5 29
beacon 1:388c915756f5 30 DistanceSensors(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 1:388c915756f5 31 DistanceSensors();
beacon 1:388c915756f5 32
beacon 1:388c915756f5 33 void init(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 1:388c915756f5 34 virtual ~DistanceSensors();
beacon 1:388c915756f5 35 float read();
beacon 1:388c915756f5 36
beacon 1:388c915756f5 37 operator float(); //Is here to constantly return the value of read.
beacon 1:388c915756f5 38
beacon 1:388c915756f5 39 private:
beacon 1:388c915756f5 40
beacon 1:388c915756f5 41 AnalogIn* sensorVoltage;
beacon 1:388c915756f5 42 DigitalOut* bit0;
beacon 1:388c915756f5 43 DigitalOut* bit1;
beacon 1:388c915756f5 44 DigitalOut* bit2;
beacon 1:388c915756f5 45
beacon 1:388c915756f5 46 int number;
beacon 1:388c915756f5 47
beacon 1:388c915756f5 48 };
beacon 1:388c915756f5 49
beacon 1:388c915756f5 50 class Farbsensor
beacon 1:388c915756f5 51 {
beacon 1:388c915756f5 52 public:
beacon 1:388c915756f5 53
beacon 1:388c915756f5 54 Farbsensor();
beacon 1:388c915756f5 55 Farbsensor(AnalogIn* FarbVoltage);
beacon 1:388c915756f5 56
beacon 1:388c915756f5 57 void init(AnalogIn* FarbVoltage);
beacon 1:388c915756f5 58 int read();
beacon 1:388c915756f5 59 operator int();
beacon 1:388c915756f5 60
beacon 1:388c915756f5 61 private:
beacon 1:388c915756f5 62
beacon 1:388c915756f5 63 AnalogIn* FarbVoltage;
beacon 1:388c915756f5 64 };
beacon 1:388c915756f5 65
beacon 0:d267b248eff4 66 class Robot
beacon 0:d267b248eff4 67 {
beacon 0:d267b248eff4 68
beacon 0:d267b248eff4 69 public:
beacon 0:d267b248eff4 70
beacon 0:d267b248eff4 71 //Robot related:
beacon 1:388c915756f5 72 Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage );
beacon 0:d267b248eff4 73 void drive();
beacon 0:d267b248eff4 74 void turnLeft();
beacon 0:d267b248eff4 75 void turnRight();
beacon 0:d267b248eff4 76 void turnAround(int left);
beacon 1:388c915756f5 77 void stop();
beacon 1:388c915756f5 78
beacon 1:388c915756f5 79 void search(int* counter);
beacon 0:d267b248eff4 80
beacon 0:d267b248eff4 81 //DistanceSensors related:
beacon 1:388c915756f5 82 DistanceSensors sensors[6];
beacon 1:388c915756f5 83
beacon 1:388c915756f5 84 void initializeDistanceSensors();
beacon 1:388c915756f5 85 //void init();
beacon 0:d267b248eff4 86
beacon 1:388c915756f5 87 //LEDS related:
beacon 1:388c915756f5 88 DigitalOut* leds;
beacon 0:d267b248eff4 89
beacon 1:388c915756f5 90 //Farbsensors related:
beacon 1:388c915756f5 91 Farbsensor FarbVoltage;
beacon 0:d267b248eff4 92
beacon 0:d267b248eff4 93 private:
beacon 0:d267b248eff4 94
beacon 0:d267b248eff4 95 //Robot related:
beacon 0:d267b248eff4 96 PwmOut* left;
beacon 0:d267b248eff4 97 PwmOut* right;
beacon 0:d267b248eff4 98
beacon 0:d267b248eff4 99 DigitalOut* powerSignal;
beacon 0:d267b248eff4 100 DigitalIn* errorSignal;
beacon 0:d267b248eff4 101 DigitalIn* overtemperatur;
beacon 0:d267b248eff4 102
beacon 0:d267b248eff4 103
beacon 0:d267b248eff4 104 };
beacon 0:d267b248eff4 105
beacon 0:d267b248eff4 106 #endif