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@6:ba26dd3251b3, 2017-04-26 (annotated)

Committer:
beacon
Date:
Wed Apr 26 14:09:08 2017 +0000
Revision:
6:ba26dd3251b3
Parent:
5:1aaf5de776ff
Child:
10:f76476943a6c
YESSS! On time!!

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 0:d267b248eff4 7
beacon 0:d267b248eff4 8 #include "mbed.h"
beacon 0:d267b248eff4 9
beacon 0:d267b248eff4 10
beacon 0:d267b248eff4 11 /* Declarations for the Motors in the Robot in order to drive -------- */
beacon 1:388c915756f5 12
beacon 1:388c915756f5 13 class DistanceSensors
beacon 1:388c915756f5 14 {
beacon 1:388c915756f5 15 public:
beacon 1:388c915756f5 16
beacon 4:67d7177c213f 17 DistanceSensors(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 1:388c915756f5 18 DistanceSensors();
beacon 1:388c915756f5 19
beacon 4:67d7177c213f 20 void init(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 1:388c915756f5 21 virtual ~DistanceSensors();
beacon 1:388c915756f5 22 float read();
beacon 1:388c915756f5 23
beacon 1:388c915756f5 24 operator float(); //Is here to constantly return the value of read.
beacon 1:388c915756f5 25
beacon 1:388c915756f5 26 private:
beacon 1:388c915756f5 27
beacon 1:388c915756f5 28 AnalogIn* sensorVoltage;
beacon 4:67d7177c213f 29 AnalogIn* frontS;
beacon 4:67d7177c213f 30 AnalogIn* leftS;
beacon 4:67d7177c213f 31 AnalogIn* rightS;
beacon 4:67d7177c213f 32
beacon 1:388c915756f5 33 DigitalOut* bit0;
beacon 1:388c915756f5 34 DigitalOut* bit1;
beacon 1:388c915756f5 35 DigitalOut* bit2;
beacon 1:388c915756f5 36
beacon 1:388c915756f5 37 int number;
beacon 1:388c915756f5 38
beacon 1:388c915756f5 39 };
beacon 1:388c915756f5 40
beacon 1:388c915756f5 41 class Farbsensor
beacon 1:388c915756f5 42 {
beacon 1:388c915756f5 43 public:
beacon 1:388c915756f5 44
beacon 1:388c915756f5 45 Farbsensor();
beacon 1:388c915756f5 46 Farbsensor(AnalogIn* FarbVoltage);
beacon 1:388c915756f5 47
beacon 1:388c915756f5 48 void init(AnalogIn* FarbVoltage);
beacon 1:388c915756f5 49 int read();
beacon 1:388c915756f5 50 operator int();
beacon 1:388c915756f5 51
beacon 1:388c915756f5 52 private:
beacon 1:388c915756f5 53
beacon 1:388c915756f5 54 AnalogIn* FarbVoltage;
beacon 1:388c915756f5 55 };
beacon 6:ba26dd3251b3 56
beacon 4:67d7177c213f 57 class Arm{
beacon 4:67d7177c213f 58
beacon 4:67d7177c213f 59 public:
beacon 6:ba26dd3251b3 60
beacon 4:67d7177c213f 61 Arm();
beacon 6:ba26dd3251b3 62 Arm(Servo* servoArm);
beacon 4:67d7177c213f 63
beacon 6:ba26dd3251b3 64 void init(Servo* servoArm);
beacon 6:ba26dd3251b3 65
beacon 6:ba26dd3251b3 66 void collecttodown(int* done);
beacon 6:ba26dd3251b3 67 void downtocollect(int* done);
beacon 6:ba26dd3251b3 68 void collecttoback(int* done);
beacon 6:ba26dd3251b3 69 void backtocollect(int* done);
beacon 4:67d7177c213f 70
beacon 4:67d7177c213f 71 private:
beacon 6:ba26dd3251b3 72 Servo* servoArm;
beacon 6:ba26dd3251b3 73 float angle;
beacon 4:67d7177c213f 74
beacon 4:67d7177c213f 75 };
beacon 1:388c915756f5 76
beacon 0:d267b248eff4 77 class Robot
beacon 0:d267b248eff4 78 {
beacon 0:d267b248eff4 79
beacon 0:d267b248eff4 80 public:
beacon 0:d267b248eff4 81
beacon 0:d267b248eff4 82 //Robot related:
beacon 6:ba26dd3251b3 83 Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, Servo* Arm );
beacon 4:67d7177c213f 84
beacon 4:67d7177c213f 85 //Drive Functions
beacon 0:d267b248eff4 86 void drive();
beacon 4:67d7177c213f 87 void driveB();
beacon 4:67d7177c213f 88
beacon 0:d267b248eff4 89 void turnLeft();
beacon 4:67d7177c213f 90 void turnLeftS();
beacon 0:d267b248eff4 91 void turnRight();
beacon 4:67d7177c213f 92 void turnRightS();
beacon 0:d267b248eff4 93 void turnAround(int left);
beacon 1:388c915756f5 94 void stop();
beacon 1:388c915756f5 95
beacon 4:67d7177c213f 96 //Functions that use the drive functions
beacon 4:67d7177c213f 97 void wallRight(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 98 void wallLeft(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 99 void wallFront(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 100 void counterMax(int* counter, int* timer, int* lastAct, int* rando);
beacon 4:67d7177c213f 101
beacon 5:1aaf5de776ff 102 void legoFront(int* counter, int* timer, int* lastAct, int* legoFound, int* found);
beacon 4:67d7177c213f 103 void legoRight(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 4:67d7177c213f 104 void legoLeft(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 4:67d7177c213f 105
beacon 4:67d7177c213f 106 void nothingFound(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 107
beacon 4:67d7177c213f 108 void search(int* counter, int* timer, int* found);
beacon 4:67d7177c213f 109 void lego(int* counter, Timer* t);
beacon 0:d267b248eff4 110
beacon 0:d267b248eff4 111 //DistanceSensors related:
beacon 4:67d7177c213f 112 DistanceSensors sensors[9];
beacon 4:67d7177c213f 113 AnalogIn* frontS;
beacon 4:67d7177c213f 114 AnalogIn* leftS;
beacon 4:67d7177c213f 115 AnalogIn* rightS;
beacon 4:67d7177c213f 116
beacon 1:388c915756f5 117
beacon 1:388c915756f5 118 void initializeDistanceSensors();
beacon 1:388c915756f5 119 //void init();
beacon 0:d267b248eff4 120
beacon 1:388c915756f5 121 //LEDS related:
beacon 6:ba26dd3251b3 122 DigitalOut* leds;
beacon 0:d267b248eff4 123
beacon 1:388c915756f5 124 //Farbsensors related:
beacon 6:ba26dd3251b3 125 Farbsensor FarbVoltage;
beacon 6:ba26dd3251b3 126
beacon 6:ba26dd3251b3 127 //Arm related:
beacon 6:ba26dd3251b3 128 Arm Arm;
beacon 0:d267b248eff4 129
beacon 0:d267b248eff4 130 private:
beacon 0:d267b248eff4 131
beacon 0:d267b248eff4 132 //Robot related:
beacon 0:d267b248eff4 133 PwmOut* left;
beacon 0:d267b248eff4 134 PwmOut* right;
beacon 0:d267b248eff4 135
beacon 0:d267b248eff4 136 DigitalOut* powerSignal;
beacon 0:d267b248eff4 137 DigitalIn* errorSignal;
beacon 0:d267b248eff4 138 DigitalIn* overtemperatur;
beacon 0:d267b248eff4 139
beacon 4:67d7177c213f 140 Servo* arm;
beacon 4:67d7177c213f 141
beacon 0:d267b248eff4 142
beacon 0:d267b248eff4 143 };
beacon 0:d267b248eff4 144
beacon 0:d267b248eff4 145 #endif