zhaw_st16b_pes2_10 / Mbed 2 deprecated PES_Official-US

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Dependencies:   Servo ServoArm mbed

Fork of PES_Official-TestF by zhaw_st16b_pes2_10

Headers/Robot.h@17:4e1be70bdedb, 2017-05-18 (annotated)

Committer:
beacon
Date:
Thu May 18 14:27:09 2017 +0000
Revision:
17:4e1be70bdedb
Parent:
15:915f8839fe48 
Si compila.

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 17:4e1be70bdedb 8 #include <Ultraschall.h>
beacon 0:d267b248eff4 9
beacon 0:d267b248eff4 10 #include "mbed.h"
beacon 0:d267b248eff4 11
beacon 0:d267b248eff4 12
beacon 0:d267b248eff4 13 /* Declarations for the Motors in the Robot in order to drive -------- */
beacon 1:388c915756f5 14
beacon 1:388c915756f5 15 class DistanceSensors
beacon 1:388c915756f5 16 {
beacon 1:388c915756f5 17 public:
beacon 1:388c915756f5 18
beacon 4:67d7177c213f 19 DistanceSensors(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 1:388c915756f5 20 DistanceSensors();
beacon 1:388c915756f5 21
beacon 4:67d7177c213f 22 void init(AnalogIn* sensorVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 1:388c915756f5 23 virtual ~DistanceSensors();
beacon 1:388c915756f5 24 float read();
beacon 1:388c915756f5 25
beacon 1:388c915756f5 26 operator float(); //Is here to constantly return the value of read.
beacon 1:388c915756f5 27
beacon 1:388c915756f5 28 private:
beacon 1:388c915756f5 29
beacon 1:388c915756f5 30 AnalogIn* sensorVoltage;
beacon 4:67d7177c213f 31 AnalogIn* frontS;
beacon 4:67d7177c213f 32 AnalogIn* leftS;
beacon 4:67d7177c213f 33 AnalogIn* rightS;
beacon 4:67d7177c213f 34
beacon 1:388c915756f5 35 DigitalOut* bit0;
beacon 1:388c915756f5 36 DigitalOut* bit1;
beacon 1:388c915756f5 37 DigitalOut* bit2;
beacon 1:388c915756f5 38
beacon 1:388c915756f5 39 int number;
beacon 1:388c915756f5 40
beacon 1:388c915756f5 41 };
beacon 1:388c915756f5 42
beacon 1:388c915756f5 43 class Farbsensor
beacon 1:388c915756f5 44 {
beacon 1:388c915756f5 45 public:
beacon 1:388c915756f5 46
beacon 1:388c915756f5 47 Farbsensor();
beacon 1:388c915756f5 48 Farbsensor(AnalogIn* FarbVoltage);
beacon 1:388c915756f5 49
beacon 1:388c915756f5 50 void init(AnalogIn* FarbVoltage);
beacon 1:388c915756f5 51 int read();
beacon 1:388c915756f5 52 operator int();
beacon 1:388c915756f5 53
beacon 1:388c915756f5 54 private:
beacon 1:388c915756f5 55
beacon 17:4e1be70bdedb 56 AnalogIn* FarbVoltage;
beacon 1:388c915756f5 57 };
beacon 6:ba26dd3251b3 58
beacon 4:67d7177c213f 59 class Arm{
beacon 4:67d7177c213f 60
beacon 4:67d7177c213f 61 public:
beacon 6:ba26dd3251b3 62
beacon 4:67d7177c213f 63 Arm();
beacon 10:f76476943a6c 64 Arm(ServoArm* servoArm);
beacon 4:67d7177c213f 65
beacon 10:f76476943a6c 66 void init(ServoArm* servoArm);
beacon 6:ba26dd3251b3 67
beacon 11:292bdbd85a9c 68 int collectToDown();
beacon 11:292bdbd85a9c 69 int downToCollect();
beacon 11:292bdbd85a9c 70 int collectToBack();
beacon 11:292bdbd85a9c 71 int backToCollect();
beacon 4:67d7177c213f 72
beacon 4:67d7177c213f 73 private:
beacon 10:f76476943a6c 74 ServoArm* arm;
beacon 6:ba26dd3251b3 75 float angle;
beacon 4:67d7177c213f 76
beacon 4:67d7177c213f 77 };
beacon 1:388c915756f5 78
EpicG10 14:b61fbd13a7c9 79 class Leiste{
EpicG10 14:b61fbd13a7c9 80
EpicG10 14:b61fbd13a7c9 81 public:
EpicG10 14:b61fbd13a7c9 82
EpicG10 14:b61fbd13a7c9 83 Leiste();
EpicG10 14:b61fbd13a7c9 84 Leiste(Servo* servoLeiste);
EpicG10 14:b61fbd13a7c9 85
EpicG10 14:b61fbd13a7c9 86 void init(Servo* servoLeiste);
EpicG10 14:b61fbd13a7c9 87
beacon 17:4e1be70bdedb 88 int upToDown();
beacon 17:4e1be70bdedb 89 int downToUp();
EpicG10 14:b61fbd13a7c9 90
EpicG10 14:b61fbd13a7c9 91
EpicG10 14:b61fbd13a7c9 92 private:
EpicG10 14:b61fbd13a7c9 93 Servo* leiste;
EpicG10 14:b61fbd13a7c9 94
EpicG10 14:b61fbd13a7c9 95
EpicG10 14:b61fbd13a7c9 96 };
EpicG10 14:b61fbd13a7c9 97
beacon 10:f76476943a6c 98 class Greifer
beacon 10:f76476943a6c 99 {
beacon 10:f76476943a6c 100
beacon 10:f76476943a6c 101 public:
beacon 10:f76476943a6c 102
beacon 10:f76476943a6c 103 Greifer(Servo* greifer);
beacon 10:f76476943a6c 104 Greifer();
beacon 10:f76476943a6c 105
beacon 10:f76476943a6c 106 void init(Servo* greifer);
beacon 11:292bdbd85a9c 107 int take();
beacon 11:292bdbd85a9c 108 int leave();
EpicG10 15:915f8839fe48 109 void nullPos();
beacon 10:f76476943a6c 110
beacon 10:f76476943a6c 111 private:
beacon 10:f76476943a6c 112 Servo* greifer;
beacon 10:f76476943a6c 113
beacon 10:f76476943a6c 114 };
beacon 10:f76476943a6c 115
beacon 17:4e1be70bdedb 116 class USsensor
beacon 17:4e1be70bdedb 117 {
beacon 17:4e1be70bdedb 118 public:
beacon 17:4e1be70bdedb 119
beacon 17:4e1be70bdedb 120 USsensor();
beacon 17:4e1be70bdedb 121 USsensor(Ultraschall* Usensor);
beacon 17:4e1be70bdedb 122 void init(Ultraschall* Usensor);
beacon 17:4e1be70bdedb 123 float read();
beacon 17:4e1be70bdedb 124 operator float();
beacon 17:4e1be70bdedb 125
beacon 17:4e1be70bdedb 126 private:
beacon 17:4e1be70bdedb 127 Ultraschall* Usensor;
beacon 17:4e1be70bdedb 128 };
beacon 17:4e1be70bdedb 129
beacon 0:d267b248eff4 130 class Robot
beacon 0:d267b248eff4 131 {
beacon 0:d267b248eff4 132
beacon 0:d267b248eff4 133 public:
beacon 0:d267b248eff4 134
beacon 0:d267b248eff4 135 //Robot related:
beacon 17:4e1be70bdedb 136 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 );
beacon 4:67d7177c213f 137
beacon 4:67d7177c213f 138 //Drive Functions
beacon 0:d267b248eff4 139 void drive();
beacon 4:67d7177c213f 140 void driveB();
beacon 4:67d7177c213f 141
beacon 0:d267b248eff4 142 void turnLeft();
beacon 4:67d7177c213f 143 void turnLeftS();
beacon 0:d267b248eff4 144 void turnRight();
beacon 4:67d7177c213f 145 void turnRightS();
beacon 0:d267b248eff4 146 void turnAround(int left);
beacon 1:388c915756f5 147 void stop();
beacon 1:388c915756f5 148
beacon 4:67d7177c213f 149 //Functions that use the drive functions
beacon 17:4e1be70bdedb 150 void driveSlowly();
beacon 17:4e1be70bdedb 151 void driveBackSlowly();/*
beacon 4:67d7177c213f 152 void wallRight(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 153 void wallLeft(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 154 void wallFront(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 155 void counterMax(int* counter, int* timer, int* lastAct, int* rando);
beacon 4:67d7177c213f 156
beacon 5:1aaf5de776ff 157 void legoFront(int* counter, int* timer, int* lastAct, int* legoFound, int* found);
beacon 4:67d7177c213f 158 void legoRight(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 4:67d7177c213f 159 void legoLeft(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 4:67d7177c213f 160
beacon 4:67d7177c213f 161 void nothingFound(int* counter, int* timer, int* lastAct);
beacon 17:4e1be70bdedb 162 */
beacon 11:292bdbd85a9c 163 int search(int* timer);
beacon 10:f76476943a6c 164
beacon 17:4e1be70bdedb 165 float see(int sensor);
beacon 10:f76476943a6c 166 int getErrorMotor();
beacon 0:d267b248eff4 167
beacon 0:d267b248eff4 168 //DistanceSensors related:
beacon 4:67d7177c213f 169 DistanceSensors sensors[9];
beacon 17:4e1be70bdedb 170 USsensor USsensor;
beacon 4:67d7177c213f 171 AnalogIn* frontS;
beacon 4:67d7177c213f 172 AnalogIn* leftS;
beacon 4:67d7177c213f 173 AnalogIn* rightS;
beacon 4:67d7177c213f 174
beacon 1:388c915756f5 175
beacon 1:388c915756f5 176 void initializeDistanceSensors();
beacon 1:388c915756f5 177 //void init();
beacon 0:d267b248eff4 178
beacon 1:388c915756f5 179 //LEDS related:
beacon 6:ba26dd3251b3 180 DigitalOut* leds;
beacon 0:d267b248eff4 181
beacon 1:388c915756f5 182 //Farbsensors related:
beacon 6:ba26dd3251b3 183 Farbsensor FarbVoltage;
beacon 17:4e1be70bdedb 184 DigitalOut* led;
beacon 6:ba26dd3251b3 185
beacon 6:ba26dd3251b3 186 //Arm related:
beacon 6:ba26dd3251b3 187 Arm Arm;
beacon 0:d267b248eff4 188
beacon 10:f76476943a6c 189 //Greifer related:
beacon 10:f76476943a6c 190 Greifer Greifer;
beacon 10:f76476943a6c 191
EpicG10 15:915f8839fe48 192 //Leiste related:
EpicG10 15:915f8839fe48 193 Leiste Leiste;
EpicG10 15:915f8839fe48 194
beacon 0:d267b248eff4 195 private:
beacon 0:d267b248eff4 196
beacon 0:d267b248eff4 197 //Robot related:
beacon 0:d267b248eff4 198 PwmOut* left;
beacon 0:d267b248eff4 199 PwmOut* right;
beacon 10:f76476943a6c 200 DigitalIn* errorMotor;
beacon 0:d267b248eff4 201
beacon 0:d267b248eff4 202 DigitalOut* powerSignal;
beacon 0:d267b248eff4 203 DigitalIn* errorSignal;
beacon 0:d267b248eff4 204 DigitalIn* overtemperatur;
beacon 0:d267b248eff4 205
beacon 10:f76476943a6c 206 Servo* greifer;
EpicG10 15:915f8839fe48 207 Servo* leiste;
beacon 10:f76476943a6c 208 ServoArm* arm;
beacon 0:d267b248eff4 209 };
beacon 0:d267b248eff4 210
beacon 0:d267b248eff4 211 #endif