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Fork of SeeedShieldBot by
SeeedStudioShieldBot.h
- Committer:
- melse
- Date:
- 2013-07-15
- Revision:
- 5:179e85a68446
- Parent:
- 4:e2d5ac8459a4
- Child:
- 6:9479362be27f
File content as of revision 5:179e85a68446:
#include "mbed.h" /** Seeed Studio Shield Bot Control Class * In order to use this properly, you need to connect a jumper between pins eight and three on the shield bot, and you can't use either pins 8 or 3, which correspond to PTA13 and PTA12, respectively. */ class SeeedStudioShieldBot { public: // Create a shield bot object, using default settings for now... SeeedStudioShieldBot(); /** Switch on the left motor at the given speed. * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. */ void left_motor(float speed); /** Switch on the right motor at the given speed. * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. */ void right_motor(float speed); /** Switch on both motors, forwards at the given speed. * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. */ void forward(float speed); /** Switch on both motors, backwards at the given speed. * @param speed The speed, from 0.0 to 1.0 at which to spin the motor. */ void backward(float speed); /** Switch on both motors at the given speed, in opposite directions so as to turn left. * @param speed The speed, from 0.0 to 1.0 at which to spin the motors. */ void left(float speed); /** Switch on both motors at the given speed, in opposite directions so as to turn right. * @param speed The speed, from 0.0 to 1.0 at which to spin the motors. */ void right(float speed); /** Disable the left motor, by driving enable pin for the second motor low... */ void disable_left_motor(); /** Disable the left motor, by driving enable pin for the first motor low... */ void disable_right_motor(); /** Enable the left motor, by driving enable pin for the second motor high... */ void enable_left_motor(); /** Enable the left motor, by driving enable pin for the first motor high... */ void enable_right_motor(); /** Stop both motors at the same time. Different to disable. */ void stopAll(); /** Stop a chosen motor. * @param motor Number, either 1 or 2 choosing the motor. */ void stop(int motor); // Need to do something to do with detected line... /** Gives an indication of the data given by the reflectivity sensors. */ float line_position(); DigitalIn rightSensor; DigitalIn inRightSensor; DigitalIn centreSensor; DigitalIn inLeftSensor; DigitalIn leftSensor; private: PwmOut motor1A; DigitalOut motor1B; DigitalOut motor1En; // motor2A or motor2B need to be PWM, but the freedom board doesn't support it at the moment... PwmOut motor2A; DigitalOut motor2B; DigitalOut motor2En; };