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@2:01e9de508316, 2017-03-21 (annotated)

Committer:
beacon
Date:
Tue Mar 21 13:12:54 2017 +0000
Revision:
2:01e9de508316
Parent:
1:388c915756f5
Child:
3:fa61be4ecaa6
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 0:d267b248eff4 6
beacon 0:d267b248eff4 7 #include "mbed.h"
beacon 0:d267b248eff4 8
beacon 1:388c915756f5 9 //DistanceSensors:
beacon 1:388c915756f5 10 #define NEAR 0.1f //Used for distance Sensors. If they're to near to a wall -> turn
beacon 1:388c915756f5 11 #define LEFT 5 //Arrayindex of the left Sensor & left LED
beacon 1:388c915756f5 12 #define FWD 0 //Arrayindex of the front Sensor & front LED
beacon 1:388c915756f5 13 #define RIGHT 1 //Arrayindex of the right Sensor & right LED.
beacon 1:388c915756f5 14
beacon 1:388c915756f5 15 //ColorSensors:
beacon 1:388c915756f5 16 #define RED_UPLIMIT 500 //Default limit in mV
beacon 1:388c915756f5 17 #define GREEN_DOWNLIMIT 501 //Default limit in mV
beacon 1:388c915756f5 18 #define GREEN_UPLIMIT 1200 //Default limit in mV
beacon 1:388c915756f5 19 #define GREEN 1
beacon 1:388c915756f5 20 #define NOBLOCK 0
beacon 1:388c915756f5 21 #define RED -1
beacon 1:388c915756f5 22
beacon 2:01e9de508316 23 //Misc:
beacon 2:01e9de508316 24 #define TIMEOUT 20
beacon 2:01e9de508316 25
beacon 0:d267b248eff4 26
beacon 0:d267b248eff4 27 /* Declarations for the Motors in the Robot in order to drive -------- */
beacon 1:388c915756f5 28
beacon 1:388c915756f5 29 class DistanceSensors
beacon 1:388c915756f5 30 {
beacon 1:388c915756f5 31 public:
beacon 1:388c915756f5 32
beacon 1:388c915756f5 33 DistanceSensors(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 1:388c915756f5 34 DistanceSensors();
beacon 1:388c915756f5 35
beacon 1:388c915756f5 36 void init(AnalogIn* sensorVoltage, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, int number);
beacon 1:388c915756f5 37 virtual ~DistanceSensors();
beacon 1:388c915756f5 38 float read();
beacon 1:388c915756f5 39
beacon 1:388c915756f5 40 operator float(); //Is here to constantly return the value of read.
beacon 1:388c915756f5 41
beacon 1:388c915756f5 42 private:
beacon 1:388c915756f5 43
beacon 1:388c915756f5 44 AnalogIn* sensorVoltage;
beacon 1:388c915756f5 45 DigitalOut* bit0;
beacon 1:388c915756f5 46 DigitalOut* bit1;
beacon 1:388c915756f5 47 DigitalOut* bit2;
beacon 1:388c915756f5 48
beacon 1:388c915756f5 49 int number;
beacon 1:388c915756f5 50
beacon 1:388c915756f5 51 };
beacon 1:388c915756f5 52
beacon 1:388c915756f5 53 class Farbsensor
beacon 1:388c915756f5 54 {
beacon 1:388c915756f5 55 public:
beacon 1:388c915756f5 56
beacon 1:388c915756f5 57 Farbsensor();
beacon 1:388c915756f5 58 Farbsensor(AnalogIn* FarbVoltage);
beacon 1:388c915756f5 59
beacon 1:388c915756f5 60 void init(AnalogIn* FarbVoltage);
beacon 1:388c915756f5 61 int read();
beacon 1:388c915756f5 62 operator int();
beacon 1:388c915756f5 63
beacon 1:388c915756f5 64 private:
beacon 1:388c915756f5 65
beacon 1:388c915756f5 66 AnalogIn* FarbVoltage;
beacon 1:388c915756f5 67 };
beacon 1:388c915756f5 68
beacon 0:d267b248eff4 69 class Robot
beacon 0:d267b248eff4 70 {
beacon 0:d267b248eff4 71
beacon 0:d267b248eff4 72 public:
beacon 0:d267b248eff4 73
beacon 0:d267b248eff4 74 //Robot related:
beacon 1:388c915756f5 75 Robot(PwmOut* left, PwmOut* right, DigitalOut* enableSignal, DigitalOut* leds, AnalogIn* FarbVoltage );
beacon 0:d267b248eff4 76 void drive();
beacon 0:d267b248eff4 77 void turnLeft();
beacon 0:d267b248eff4 78 void turnRight();
beacon 0:d267b248eff4 79 void turnAround(int left);
beacon 1:388c915756f5 80 void stop();
beacon 1:388c915756f5 81
beacon 2:01e9de508316 82 void search(int* counter, Timer* t);
beacon 0:d267b248eff4 83
beacon 0:d267b248eff4 84 //DistanceSensors related:
beacon 1:388c915756f5 85 DistanceSensors sensors[6];
beacon 1:388c915756f5 86
beacon 1:388c915756f5 87 void initializeDistanceSensors();
beacon 1:388c915756f5 88 //void init();
beacon 0:d267b248eff4 89
beacon 1:388c915756f5 90 //LEDS related:
beacon 1:388c915756f5 91 DigitalOut* leds;
beacon 0:d267b248eff4 92
beacon 1:388c915756f5 93 //Farbsensors related:
beacon 1:388c915756f5 94 Farbsensor FarbVoltage;
beacon 0:d267b248eff4 95
beacon 0:d267b248eff4 96 private:
beacon 0:d267b248eff4 97
beacon 0:d267b248eff4 98 //Robot related:
beacon 0:d267b248eff4 99 PwmOut* left;
beacon 0:d267b248eff4 100 PwmOut* right;
beacon 0:d267b248eff4 101
beacon 0:d267b248eff4 102 DigitalOut* powerSignal;
beacon 0:d267b248eff4 103 DigitalIn* errorSignal;
beacon 0:d267b248eff4 104 DigitalIn* overtemperatur;
beacon 0:d267b248eff4 105
beacon 0:d267b248eff4 106
beacon 0:d267b248eff4 107 };
beacon 0:d267b248eff4 108
beacon 0:d267b248eff4 109 #endif