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@14:b61fbd13a7c9, 2017-05-10 (annotated)

Committer:
EpicG10
Date:
Wed May 10 19:53:08 2017 +0000
Revision:
14:b61fbd13a7c9
Parent:
11:292bdbd85a9c
Child:
15:915f8839fe48
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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 4:67d7177c213f 6 #include "Servo.h"
beacon 10:f76476943a6c 7 #include "ServoArm.h"
beacon 0:d267b248eff4 8
beacon 0:d267b248eff4 9 #include "mbed.h"
beacon 0:d267b248eff4 10
beacon 0:d267b248eff4 11
beacon 0:d267b248eff4 12 /* Declarations for the Motors in the Robot in order to drive -------- */
beacon 1:388c915756f5 13
beacon 1:388c915756f5 14 class DistanceSensors
beacon 1:388c915756f5 15 {
beacon 1:388c915756f5 16 public:
beacon 1:388c915756f5 17
beacon 4:67d7177c213f 18 DistanceSensors(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 1:388c915756f5 19 DistanceSensors();
beacon 1:388c915756f5 20
beacon 4:67d7177c213f 21 void init(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 1:388c915756f5 22 virtual ~DistanceSensors();
beacon 1:388c915756f5 23 float read();
beacon 1:388c915756f5 24
beacon 1:388c915756f5 25 operator float(); //Is here to constantly return the value of read.
beacon 1:388c915756f5 26
beacon 1:388c915756f5 27 private:
beacon 1:388c915756f5 28
beacon 1:388c915756f5 29 AnalogIn* sensorVoltage;
beacon 4:67d7177c213f 30 AnalogIn* frontS;
beacon 4:67d7177c213f 31 AnalogIn* leftS;
beacon 4:67d7177c213f 32 AnalogIn* rightS;
beacon 4:67d7177c213f 33
beacon 1:388c915756f5 34 DigitalOut* bit0;
beacon 1:388c915756f5 35 DigitalOut* bit1;
beacon 1:388c915756f5 36 DigitalOut* bit2;
beacon 1:388c915756f5 37
beacon 1:388c915756f5 38 int number;
beacon 1:388c915756f5 39
beacon 1:388c915756f5 40 };
beacon 1:388c915756f5 41
beacon 1:388c915756f5 42 class Farbsensor
beacon 1:388c915756f5 43 {
beacon 1:388c915756f5 44 public:
beacon 1:388c915756f5 45
beacon 1:388c915756f5 46 Farbsensor();
beacon 1:388c915756f5 47 Farbsensor(AnalogIn* FarbVoltage);
beacon 1:388c915756f5 48
beacon 1:388c915756f5 49 void init(AnalogIn* FarbVoltage);
beacon 1:388c915756f5 50 int read();
beacon 1:388c915756f5 51 operator int();
beacon 1:388c915756f5 52
beacon 1:388c915756f5 53 private:
beacon 1:388c915756f5 54
beacon 1:388c915756f5 55 AnalogIn* FarbVoltage;
beacon 1:388c915756f5 56 };
beacon 6:ba26dd3251b3 57
beacon 4:67d7177c213f 58 class Arm{
beacon 4:67d7177c213f 59
beacon 4:67d7177c213f 60 public:
beacon 6:ba26dd3251b3 61
beacon 4:67d7177c213f 62 Arm();
beacon 10:f76476943a6c 63 Arm(ServoArm* servoArm);
beacon 4:67d7177c213f 64
beacon 10:f76476943a6c 65 void init(ServoArm* servoArm);
beacon 6:ba26dd3251b3 66
beacon 11:292bdbd85a9c 67 int collectToDown();
beacon 11:292bdbd85a9c 68 int downToCollect();
beacon 11:292bdbd85a9c 69 int collectToBack();
beacon 11:292bdbd85a9c 70 int backToCollect();
beacon 4:67d7177c213f 71
beacon 4:67d7177c213f 72 private:
beacon 10:f76476943a6c 73 ServoArm* arm;
beacon 6:ba26dd3251b3 74 float angle;
beacon 4:67d7177c213f 75
beacon 4:67d7177c213f 76 };
beacon 1:388c915756f5 77
EpicG10 14:b61fbd13a7c9 78 class Leiste{
EpicG10 14:b61fbd13a7c9 79
EpicG10 14:b61fbd13a7c9 80 public:
EpicG10 14:b61fbd13a7c9 81
EpicG10 14:b61fbd13a7c9 82 Leiste();
EpicG10 14:b61fbd13a7c9 83 Leiste(Servo* servoLeiste);
EpicG10 14:b61fbd13a7c9 84
EpicG10 14:b61fbd13a7c9 85 void init(Servo* servoLeiste);
EpicG10 14:b61fbd13a7c9 86
EpicG10 14:b61fbd13a7c9 87 int UpToDown();
EpicG10 14:b61fbd13a7c9 88 int DownToUp();
EpicG10 14:b61fbd13a7c9 89
EpicG10 14:b61fbd13a7c9 90
EpicG10 14:b61fbd13a7c9 91 private:
EpicG10 14:b61fbd13a7c9 92 Servo* leiste;
EpicG10 14:b61fbd13a7c9 93
EpicG10 14:b61fbd13a7c9 94
EpicG10 14:b61fbd13a7c9 95 };
EpicG10 14:b61fbd13a7c9 96
beacon 10:f76476943a6c 97 class Greifer
beacon 10:f76476943a6c 98 {
beacon 10:f76476943a6c 99
beacon 10:f76476943a6c 100 public:
beacon 10:f76476943a6c 101
beacon 10:f76476943a6c 102 Greifer(Servo* greifer);
beacon 10:f76476943a6c 103 Greifer();
beacon 10:f76476943a6c 104
beacon 10:f76476943a6c 105 void init(Servo* greifer);
beacon 11:292bdbd85a9c 106 int take();
beacon 11:292bdbd85a9c 107 int leave();
beacon 10:f76476943a6c 108
beacon 10:f76476943a6c 109 private:
beacon 10:f76476943a6c 110 Servo* greifer;
beacon 10:f76476943a6c 111
beacon 10:f76476943a6c 112 };
beacon 10:f76476943a6c 113
beacon 0:d267b248eff4 114 class Robot
beacon 0:d267b248eff4 115 {
beacon 0:d267b248eff4 116
beacon 0:d267b248eff4 117 public:
beacon 0:d267b248eff4 118
beacon 0:d267b248eff4 119 //Robot related:
beacon 10:f76476943a6c 120 Robot(PwmOut* left, PwmOut* right, DigitalOut* powerSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, ServoArm* Arm, Servo* Greifer );
beacon 4:67d7177c213f 121
beacon 4:67d7177c213f 122 //Drive Functions
beacon 0:d267b248eff4 123 void drive();
beacon 4:67d7177c213f 124 void driveB();
beacon 4:67d7177c213f 125
beacon 0:d267b248eff4 126 void turnLeft();
beacon 4:67d7177c213f 127 void turnLeftS();
beacon 0:d267b248eff4 128 void turnRight();
beacon 4:67d7177c213f 129 void turnRightS();
beacon 0:d267b248eff4 130 void turnAround(int left);
beacon 1:388c915756f5 131 void stop();
beacon 1:388c915756f5 132
beacon 4:67d7177c213f 133 //Functions that use the drive functions
beacon 4:67d7177c213f 134 void wallRight(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 135 void wallLeft(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 136 void wallFront(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 137 void counterMax(int* counter, int* timer, int* lastAct, int* rando);
beacon 4:67d7177c213f 138
beacon 5:1aaf5de776ff 139 void legoFront(int* counter, int* timer, int* lastAct, int* legoFound, int* found);
beacon 4:67d7177c213f 140 void legoRight(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 4:67d7177c213f 141 void legoLeft(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 4:67d7177c213f 142
beacon 4:67d7177c213f 143 void nothingFound(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 144
beacon 11:292bdbd85a9c 145 int search(int* timer);
beacon 10:f76476943a6c 146
beacon 10:f76476943a6c 147 int getErrorMotor();
beacon 0:d267b248eff4 148
beacon 0:d267b248eff4 149 //DistanceSensors related:
beacon 4:67d7177c213f 150 DistanceSensors sensors[9];
beacon 4:67d7177c213f 151 AnalogIn* frontS;
beacon 4:67d7177c213f 152 AnalogIn* leftS;
beacon 4:67d7177c213f 153 AnalogIn* rightS;
beacon 4:67d7177c213f 154
beacon 1:388c915756f5 155
beacon 1:388c915756f5 156 void initializeDistanceSensors();
beacon 1:388c915756f5 157 //void init();
beacon 0:d267b248eff4 158
beacon 1:388c915756f5 159 //LEDS related:
beacon 6:ba26dd3251b3 160 DigitalOut* leds;
beacon 0:d267b248eff4 161
beacon 1:388c915756f5 162 //Farbsensors related:
beacon 6:ba26dd3251b3 163 Farbsensor FarbVoltage;
beacon 6:ba26dd3251b3 164
beacon 6:ba26dd3251b3 165 //Arm related:
beacon 6:ba26dd3251b3 166 Arm Arm;
beacon 0:d267b248eff4 167
beacon 10:f76476943a6c 168 //Greifer related:
beacon 10:f76476943a6c 169 Greifer Greifer;
beacon 10:f76476943a6c 170
beacon 0:d267b248eff4 171 private:
beacon 0:d267b248eff4 172
beacon 0:d267b248eff4 173 //Robot related:
beacon 0:d267b248eff4 174 PwmOut* left;
beacon 0:d267b248eff4 175 PwmOut* right;
beacon 10:f76476943a6c 176 DigitalIn* errorMotor;
beacon 0:d267b248eff4 177
beacon 0:d267b248eff4 178 DigitalOut* powerSignal;
beacon 0:d267b248eff4 179 DigitalIn* errorSignal;
beacon 0:d267b248eff4 180 DigitalIn* overtemperatur;
beacon 0:d267b248eff4 181
beacon 10:f76476943a6c 182 Servo* greifer;
beacon 10:f76476943a6c 183 ServoArm* arm;
beacon 0:d267b248eff4 184 };
beacon 0:d267b248eff4 185
beacon 0:d267b248eff4 186 #endif