Diff: Headers/Robot.h

Revision:

17:4e1be70bdedb

Parent:

15:915f8839fe48

--- a/Headers/Robot.h	Thu May 11 18:57:45 2017 +0000
+++ b/Headers/Robot.h	Thu May 18 14:27:09 2017 +0000
@@ -5,6 +5,7 @@
 #include <mbed.h>
 #include "Servo.h"
 #include "ServoArm.h"
+#include <Ultraschall.h>
 
 #include "mbed.h"
 
@@ -52,7 +53,7 @@
     
     private:
     
-        AnalogIn*   FarbVoltage;
+        AnalogIn*       FarbVoltage;
 };
 
 class Arm{
@@ -84,8 +85,8 @@
         
         void init(Servo* servoLeiste);
         
-        int UpToDown();
-        int DownToUp();
+        int upToDown();
+        int downToUp();
         
         
     private:
@@ -112,13 +113,27 @@
 
 };
 
+class USsensor
+{
+    public:
+    
+        USsensor();
+        USsensor(Ultraschall* Usensor);
+        void init(Ultraschall* Usensor);
+        float read();
+        operator float();
+    
+    private:
+        Ultraschall* Usensor;
+};
+
 class Robot
 {
     
     public:
         
         //Robot related:
-        Robot(PwmOut* left, PwmOut* right, DigitalOut* powerSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, ServoArm* Arm, Servo* Greifer, Servo* Leiste );
+        Robot(PwmOut* left, PwmOut* right, DigitalOut* powerSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, ServoArm* Arm, Servo* Greifer, Servo* Leiste, Ultraschall* USsensor );
         
         //Drive Functions
         void drive();
@@ -132,6 +147,8 @@
         void stop();
         
         //Functions that use the drive functions
+        void driveSlowly();
+        void driveBackSlowly();/*
         void wallRight(int* counter, int* timer, int* lastAct);
         void wallLeft(int* counter, int* timer, int* lastAct);
         void wallFront(int* counter, int* timer, int* lastAct);
@@ -142,13 +159,15 @@
         void legoLeft(int* counter, int* timer, int* lastAct, int* legoFound);
         
         void nothingFound(int* counter, int* timer, int* lastAct);
-        
+        */
         int search(int* timer);
         
+        float see(int sensor);
         int getErrorMotor();
         
         //DistanceSensors related:
         DistanceSensors sensors[9];
+        USsensor USsensor;
         AnalogIn* frontS;
         AnalogIn* leftS;
         AnalogIn* rightS;
@@ -162,6 +181,7 @@
         
         //Farbsensors related:
         Farbsensor      FarbVoltage;
+        DigitalOut*     led;
         
         //Arm related:
         Arm             Arm;