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@0:d267b248eff4, 2017-03-11 (annotated)

Committer:
beacon
Date:
Sat Mar 11 10:14:00 2017 +0000
Revision:
0:d267b248eff4
Child:
1:388c915756f5
l

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 0:d267b248eff4 6
beacon 0:d267b248eff4 7 #include "mbed.h"
beacon 0:d267b248eff4 8
beacon 0:d267b248eff4 9
beacon 0:d267b248eff4 10 /* Declarations for the Motors in the Robot in order to drive -------- */
beacon 0:d267b248eff4 11 class Robot
beacon 0:d267b248eff4 12 {
beacon 0:d267b248eff4 13
beacon 0:d267b248eff4 14 public:
beacon 0:d267b248eff4 15
beacon 0:d267b248eff4 16 //Robot related:
beacon 0:d267b248eff4 17 Robot(PwmOut* left, PwmOut* right, DigitalOut* enable);
beacon 0:d267b248eff4 18 void drive();
beacon 0:d267b248eff4 19 void turnLeft();
beacon 0:d267b248eff4 20 void turnRight();
beacon 0:d267b248eff4 21 void turnAround(int left);
beacon 0:d267b248eff4 22
beacon 0:d267b248eff4 23 //DistanceSensors related:
beacon 0:d267b248eff4 24 class DistanceSensors
beacon 0:d267b248eff4 25 {
beacon 0:d267b248eff4 26 public:
beacon 0:d267b248eff4 27
beacon 0:d267b248eff4 28 DistanceSensors(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 0:d267b248eff4 29 DistanceSensors();
beacon 0:d267b248eff4 30
beacon 0:d267b248eff4 31 void init(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 0:d267b248eff4 32 virtual ~DistanceSensors();
beacon 0:d267b248eff4 33 float read();
beacon 0:d267b248eff4 34
beacon 0:d267b248eff4 35 operator float(); //Is here to constantly return the value of read.
beacon 0:d267b248eff4 36
beacon 0:d267b248eff4 37 private:
beacon 0:d267b248eff4 38
beacon 0:d267b248eff4 39 AnalogIn* sensorVoltage;
beacon 0:d267b248eff4 40 DigitalOut* bit0;
beacon 0:d267b248eff4 41 DigitalOut* bit1;
beacon 0:d267b248eff4 42 DigitalOut* bit2;
beacon 0:d267b248eff4 43
beacon 0:d267b248eff4 44 int number;
beacon 0:d267b248eff4 45
beacon 0:d267b248eff4 46 };
beacon 0:d267b248eff4 47
beacon 0:d267b248eff4 48
beacon 0:d267b248eff4 49 DistanceSensors sensors[6];
beacon 0:d267b248eff4 50 void init();
beacon 0:d267b248eff4 51
beacon 0:d267b248eff4 52 private:
beacon 0:d267b248eff4 53
beacon 0:d267b248eff4 54 //Robot related:
beacon 0:d267b248eff4 55 PwmOut* left;
beacon 0:d267b248eff4 56 PwmOut* right;
beacon 0:d267b248eff4 57
beacon 0:d267b248eff4 58 DigitalOut* powerSignal;
beacon 0:d267b248eff4 59 DigitalIn* errorSignal;
beacon 0:d267b248eff4 60 DigitalIn* overtemperatur;
beacon 0:d267b248eff4 61
beacon 0:d267b248eff4 62 //Distance sensors related:
beacon 0:d267b248eff4 63 //DistanceSensors sensors[6];
beacon 0:d267b248eff4 64
beacon 0:d267b248eff4 65 };
beacon 0:d267b248eff4 66
beacon 0:d267b248eff4 67 #endif