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@9:ac362674c480, 2017-05-02 (annotated)

Committer:
beacon
Date:
Tue May 02 08:39:35 2017 +0000
Revision:
9:ac362674c480
kl

Who changed what in which revision?

UserRevisionLine numberNew contents of line
beacon 9:ac362674c480 1 #ifndef ROBOT_H
beacon 9:ac362674c480 2 #define ROBOT_H
beacon 9:ac362674c480 3
beacon 9:ac362674c480 4 #include <cstdlib>
beacon 9:ac362674c480 5 #include <mbed.h>
beacon 9:ac362674c480 6 #include "Servo.h"
beacon 9:ac362674c480 7
beacon 9:ac362674c480 8 #include "mbed.h"
beacon 9:ac362674c480 9
beacon 9:ac362674c480 10
beacon 9:ac362674c480 11 /* Declarations for the Motors in the Robot in order to drive -------- */
beacon 9:ac362674c480 12
beacon 9:ac362674c480 13 class DistanceSensors
beacon 9:ac362674c480 14 {
beacon 9:ac362674c480 15 public:
beacon 9:ac362674c480 16
beacon 9:ac362674c480 17 DistanceSensors(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 9:ac362674c480 18 DistanceSensors();
beacon 9:ac362674c480 19
beacon 9:ac362674c480 20 void init(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 9:ac362674c480 21 virtual ~DistanceSensors();
beacon 9:ac362674c480 22 float read();
beacon 9:ac362674c480 23
beacon 9:ac362674c480 24 operator float(); //Is here to constantly return the value of read.
beacon 9:ac362674c480 25
beacon 9:ac362674c480 26 private:
beacon 9:ac362674c480 27
beacon 9:ac362674c480 28 AnalogIn* sensorVoltage;
beacon 9:ac362674c480 29 AnalogIn* frontS;
beacon 9:ac362674c480 30 AnalogIn* leftS;
beacon 9:ac362674c480 31 AnalogIn* rightS;
beacon 9:ac362674c480 32
beacon 9:ac362674c480 33 DigitalOut* bit0;
beacon 9:ac362674c480 34 DigitalOut* bit1;
beacon 9:ac362674c480 35 DigitalOut* bit2;
beacon 9:ac362674c480 36
beacon 9:ac362674c480 37 int number;
beacon 9:ac362674c480 38
beacon 9:ac362674c480 39 };
beacon 9:ac362674c480 40
beacon 9:ac362674c480 41 class Farbsensor
beacon 9:ac362674c480 42 {
beacon 9:ac362674c480 43 public:
beacon 9:ac362674c480 44
beacon 9:ac362674c480 45 Farbsensor();
beacon 9:ac362674c480 46 Farbsensor(AnalogIn* FarbVoltage);
beacon 9:ac362674c480 47
beacon 9:ac362674c480 48 void init(AnalogIn* FarbVoltage);
beacon 9:ac362674c480 49 int read();
beacon 9:ac362674c480 50 operator int();
beacon 9:ac362674c480 51
beacon 9:ac362674c480 52 private:
beacon 9:ac362674c480 53
beacon 9:ac362674c480 54 AnalogIn* FarbVoltage;
beacon 9:ac362674c480 55 };
beacon 9:ac362674c480 56
beacon 9:ac362674c480 57 class Arm{
beacon 9:ac362674c480 58
beacon 9:ac362674c480 59 public:
beacon 9:ac362674c480 60
beacon 9:ac362674c480 61 Arm();
beacon 9:ac362674c480 62 Arm(Servo* servoArm);
beacon 9:ac362674c480 63
beacon 9:ac362674c480 64 void init(Servo* servoArm);
beacon 9:ac362674c480 65
beacon 9:ac362674c480 66 void collecttodown(int* done);
beacon 9:ac362674c480 67 void downtocollect(int* done);
beacon 9:ac362674c480 68 void collecttoback(int* done);
beacon 9:ac362674c480 69 void backtocollect(int* done);
beacon 9:ac362674c480 70
beacon 9:ac362674c480 71 private:
beacon 9:ac362674c480 72 Servo* servoArm;
beacon 9:ac362674c480 73 float angle;
beacon 9:ac362674c480 74
beacon 9:ac362674c480 75 };
beacon 9:ac362674c480 76
beacon 9:ac362674c480 77 class Robot
beacon 9:ac362674c480 78 {
beacon 9:ac362674c480 79
beacon 9:ac362674c480 80 public:
beacon 9:ac362674c480 81
beacon 9:ac362674c480 82 //Robot related:
beacon 9:ac362674c480 83 Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, Servo* Arm );
beacon 9:ac362674c480 84
beacon 9:ac362674c480 85 //Drive Functions
beacon 9:ac362674c480 86 void drive();
beacon 9:ac362674c480 87 void driveB();
beacon 9:ac362674c480 88
beacon 9:ac362674c480 89 void turnLeft();
beacon 9:ac362674c480 90 void turnLeftS();
beacon 9:ac362674c480 91 void turnRight();
beacon 9:ac362674c480 92 void turnRightS();
beacon 9:ac362674c480 93 void turnAround(int left);
beacon 9:ac362674c480 94 void stop();
beacon 9:ac362674c480 95
beacon 9:ac362674c480 96 //Functions that use the drive functions
beacon 9:ac362674c480 97 void wallRight(int* counter, int* timer, int* lastAct);
beacon 9:ac362674c480 98 void wallLeft(int* counter, int* timer, int* lastAct);
beacon 9:ac362674c480 99 void wallFront(int* counter, int* timer, int* lastAct);
beacon 9:ac362674c480 100 void counterMax(int* counter, int* timer, int* lastAct, int* rando);
beacon 9:ac362674c480 101
beacon 9:ac362674c480 102 void legoFront(int* counter, int* timer, int* lastAct, int* legoFound, int* found);
beacon 9:ac362674c480 103 void legoRight(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 9:ac362674c480 104 void legoLeft(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 9:ac362674c480 105
beacon 9:ac362674c480 106 void nothingFound(int* counter, int* timer, int* lastAct);
beacon 9:ac362674c480 107
beacon 9:ac362674c480 108 void search(int* counter, int* timer, int* found);
beacon 9:ac362674c480 109 void lego(int* counter, Timer* t);
beacon 9:ac362674c480 110
beacon 9:ac362674c480 111 //DistanceSensors related:
beacon 9:ac362674c480 112 DistanceSensors sensors[9];
beacon 9:ac362674c480 113 AnalogIn* frontS;
beacon 9:ac362674c480 114 AnalogIn* leftS;
beacon 9:ac362674c480 115 AnalogIn* rightS;
beacon 9:ac362674c480 116
beacon 9:ac362674c480 117
beacon 9:ac362674c480 118 void initializeDistanceSensors();
beacon 9:ac362674c480 119 //void init();
beacon 9:ac362674c480 120
beacon 9:ac362674c480 121 //LEDS related:
beacon 9:ac362674c480 122 DigitalOut* leds;
beacon 9:ac362674c480 123
beacon 9:ac362674c480 124 //Farbsensors related:
beacon 9:ac362674c480 125 Farbsensor FarbVoltage;
beacon 9:ac362674c480 126
beacon 9:ac362674c480 127 //Arm related:
beacon 9:ac362674c480 128 Arm Arm;
beacon 9:ac362674c480 129
beacon 9:ac362674c480 130 private:
beacon 9:ac362674c480 131
beacon 9:ac362674c480 132 //Robot related:
beacon 9:ac362674c480 133 PwmOut* left;
beacon 9:ac362674c480 134 PwmOut* right;
beacon 9:ac362674c480 135
beacon 9:ac362674c480 136 DigitalOut* powerSignal;
beacon 9:ac362674c480 137 DigitalIn* errorSignal;
beacon 9:ac362674c480 138 DigitalIn* overtemperatur;
beacon 9:ac362674c480 139
beacon 9:ac362674c480 140 Servo* arm;
beacon 9:ac362674c480 141
beacon 9:ac362674c480 142
beacon 9:ac362674c480 143 };
beacon 9:ac362674c480 144
beacon 9:ac362674c480 145 #endif