Diff: Headers/Robot.h

Revision:

0:d267b248eff4

Child:

1:388c915756f5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Headers/Robot.h	Sat Mar 11 10:14:00 2017 +0000
@@ -0,0 +1,67 @@
+#ifndef ROBOT_H
+#define ROBOT_H
+
+#include <cstdlib>
+#include <mbed.h>
+
+#include "mbed.h"
+
+
+/* Declarations for the Motors in the Robot in order to drive -------- */
+class Robot
+{
+    
+    public:
+        
+        //Robot related:
+        Robot(PwmOut* left, PwmOut* right, DigitalOut* enable);
+        void drive();
+        void turnLeft();
+        void turnRight();
+        void turnAround(int left);
+        
+        //DistanceSensors related:
+        class DistanceSensors
+        {
+            public:
+                
+                DistanceSensors(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
+                DistanceSensors();
+                
+                void init(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
+                virtual ~DistanceSensors();    
+                float read();
+                
+                operator float();           //Is here to constantly return the value of read.
+                
+            private:
+                
+                AnalogIn*       sensorVoltage;
+                DigitalOut*     bit0;
+                DigitalOut*     bit1;
+                DigitalOut*     bit2;
+                
+                int             number;
+
+        };
+        
+        
+        DistanceSensors sensors[6];
+        void init();
+        
+    private:
+    
+        //Robot related:
+        PwmOut*         left;
+        PwmOut*         right;
+    
+        DigitalOut*     powerSignal;
+        DigitalIn*      errorSignal;
+        DigitalIn*      overtemperatur;
+        
+        //Distance sensors related:
+            //DistanceSensors   sensors[6];
+
+};
+
+#endif
\ No newline at end of file