Diff: Headers/Robot.h

Revision:

6:ba26dd3251b3

Parent:

5:1aaf5de776ff

Child:

10:f76476943a6c

--- a/Headers/Robot.h	Wed Apr 26 08:05:25 2017 +0000
+++ b/Headers/Robot.h	Wed Apr 26 14:09:08 2017 +0000
@@ -53,24 +53,26 @@
     
         AnalogIn*   FarbVoltage;
 };
-/*
+
 class Arm{
     
     public:
-        Arm(Servo joint);
+        
         Arm();
-        void init(Servo joint);
+        Arm(Servo* servoArm);
         
-        void down();
-        void neutral();
-        void back();
-        void setAngle(float angle);
+        void init(Servo* servoArm);
+        
+        void collecttodown(int* done);
+        void downtocollect(int* done);
+        void collecttoback(int* done);
+        void backtocollect(int* done);
         
     private:
-        Servo joint;
+        Servo*  servoArm;
+        float   angle;
         
 };
-*/
 
 class Robot
 {
@@ -78,7 +80,7 @@
     public:
         
         //Robot related:
-        Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage,  AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS );
+        Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage,  AnalogIn* frontS, AnalogIn* leftS, AnalogIn* rightS, Servo* Arm );
         
         //Drive Functions
         void drive();
@@ -117,10 +119,13 @@
         //void init();
         
         //LEDS related:
-        DigitalOut*      leds;
+        DigitalOut*     leds;
         
         //Farbsensors related:
-        Farbsensor FarbVoltage;
+        Farbsensor      FarbVoltage;
+        
+        //Arm related:
+        Arm             Arm;
         
     private: