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@4:67d7177c213f, 2017-04-19 (annotated)

Committer:
beacon
Date:
Wed Apr 19 12:23:52 2017 +0000
Revision:
4:67d7177c213f
Parent:
3:fa61be4ecaa6
Child:
5:1aaf5de776ff
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 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 4:67d7177c213f 56 /*
beacon 4:67d7177c213f 57 class Arm{
beacon 4:67d7177c213f 58
beacon 4:67d7177c213f 59 public:
beacon 4:67d7177c213f 60 Arm(Servo joint);
beacon 4:67d7177c213f 61 Arm();
beacon 4:67d7177c213f 62 void init(Servo joint);
beacon 4:67d7177c213f 63
beacon 4:67d7177c213f 64 void down();
beacon 4:67d7177c213f 65 void neutral();
beacon 4:67d7177c213f 66 void back();
beacon 4:67d7177c213f 67 void setAngle(float angle);
beacon 4:67d7177c213f 68
beacon 4:67d7177c213f 69 private:
beacon 4:67d7177c213f 70 Servo joint;
beacon 4:67d7177c213f 71
beacon 4:67d7177c213f 72 };
beacon 4:67d7177c213f 73 */
beacon 1:388c915756f5 74
beacon 0:d267b248eff4 75 class Robot
beacon 0:d267b248eff4 76 {
beacon 0:d267b248eff4 77
beacon 0:d267b248eff4 78 public:
beacon 0:d267b248eff4 79
beacon 0:d267b248eff4 80 //Robot related:
beacon 4:67d7177c213f 81 Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage, AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS );
beacon 4:67d7177c213f 82
beacon 4:67d7177c213f 83 //Drive Functions
beacon 0:d267b248eff4 84 void drive();
beacon 4:67d7177c213f 85 void driveB();
beacon 4:67d7177c213f 86
beacon 0:d267b248eff4 87 void turnLeft();
beacon 4:67d7177c213f 88 void turnLeftS();
beacon 0:d267b248eff4 89 void turnRight();
beacon 4:67d7177c213f 90 void turnRightS();
beacon 0:d267b248eff4 91 void turnAround(int left);
beacon 1:388c915756f5 92 void stop();
beacon 1:388c915756f5 93
beacon 4:67d7177c213f 94 //Functions that use the drive functions
beacon 4:67d7177c213f 95 void wallRight(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 96 void wallLeft(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 97 void wallFront(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 98 void counterMax(int* counter, int* timer, int* lastAct, int* rando);
beacon 4:67d7177c213f 99
beacon 4:67d7177c213f 100 void legoFront(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 4:67d7177c213f 101 void legoRight(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 4:67d7177c213f 102 void legoLeft(int* counter, int* timer, int* lastAct, int* legoFound);
beacon 4:67d7177c213f 103
beacon 4:67d7177c213f 104 void nothingFound(int* counter, int* timer, int* lastAct);
beacon 4:67d7177c213f 105
beacon 4:67d7177c213f 106 void search(int* counter, int* timer, int* found);
beacon 4:67d7177c213f 107 void lego(int* counter, Timer* t);
beacon 0:d267b248eff4 108
beacon 0:d267b248eff4 109 //DistanceSensors related:
beacon 4:67d7177c213f 110 DistanceSensors sensors[9];
beacon 4:67d7177c213f 111 AnalogIn* frontS;
beacon 4:67d7177c213f 112 AnalogIn* leftS;
beacon 4:67d7177c213f 113 AnalogIn* rightS;
beacon 4:67d7177c213f 114
beacon 1:388c915756f5 115
beacon 1:388c915756f5 116 void initializeDistanceSensors();
beacon 1:388c915756f5 117 //void init();
beacon 0:d267b248eff4 118
beacon 1:388c915756f5 119 //LEDS related:
beacon 1:388c915756f5 120 DigitalOut* leds;
beacon 0:d267b248eff4 121
beacon 1:388c915756f5 122 //Farbsensors related:
beacon 1:388c915756f5 123 Farbsensor FarbVoltage;
beacon 0:d267b248eff4 124
beacon 0:d267b248eff4 125 private:
beacon 0:d267b248eff4 126
beacon 0:d267b248eff4 127 //Robot related:
beacon 0:d267b248eff4 128 PwmOut* left;
beacon 0:d267b248eff4 129 PwmOut* right;
beacon 0:d267b248eff4 130
beacon 0:d267b248eff4 131 DigitalOut* powerSignal;
beacon 0:d267b248eff4 132 DigitalIn* errorSignal;
beacon 0:d267b248eff4 133 DigitalIn* overtemperatur;
beacon 0:d267b248eff4 134
beacon 4:67d7177c213f 135 Servo* arm;
beacon 4:67d7177c213f 136
beacon 0:d267b248eff4 137
beacon 0:d267b248eff4 138 };
beacon 0:d267b248eff4 139
beacon 0:d267b248eff4 140 #endif