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Dependencies: Servo ServoArm mbed
Fork of PES_Official-TestF by
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?
User | Revision | Line number | New 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 |