Francisco Santos
/
SRA_VFF
pepe
Diff: Robot.h
- Revision:
- 0:a7324f51348d
- Child:
- 1:2716ea33958b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Robot.h Wed Mar 13 23:04:14 2019 +0000 @@ -0,0 +1,60 @@ +/** @file */ +#ifndef ROBOT_H_ +#define ROBOT_H_ + +#include "mbed.h" + +extern int16_t countsLeft; +extern int16_t countsRight; +extern float De,Dd,T,pi,L,r,x,y,teta; + +/** \brief Sets the speed for both motors. + * + * \param leftSpeed A number from -300 to 300 representing the speed and + * direction of the left motor. Values of -300 or less result in full speed + * reverse, and values of 300 or more result in full speed forward. + * \param rightSpeed A number from -300 to 300 representing the speed and + * direction of the right motor. Values of -300 or less result in full speed + * reverse, and values of 300 or more result in full speed forward. */ +void setSpeeds(int16_t leftSpeed, int16_t rightSpeed); + +/** \brief Sets the speed for the left motor. + * + * \param speed A number from -300 to 300 representing the speed and + * direction of the left motor. Values of -300 or less result in full speed + * reverse, and values of 300 or more result in full speed forward. */ +void setLeftSpeed(int16_t speed); + +/** \brief Sets the speed for the right motor. + * + * \param speed A number from -300 to 300 representing the speed and + * direction of the right motor. Values of -300 or less result in full speed + * reverse, and values of 300 or more result in full speed forward. */ +void setRightSpeed(int16_t speed); + +/*! Returns the number of counts that have been detected from the both + * encoders. These counts start at 0. Positive counts correspond to forward + * movement of the wheel of the Romi, while negative counts correspond + * to backwards movement. + * + * The count is returned as a signed 16-bit integer. When the count goes + * over 32767, it will overflow down to -32768. When the count goes below + * -32768, it will overflow up to 32767. */ +void getCounts(); + +/*! This function is just like getCounts() except it also clears the + * counts before returning. If you call this frequently enough, you will + * not have to worry about the count overflowing. */ +void getCountsAndReset(); + +void to_line(float a,float b,float c); + +void motion(); + +void pressed(); + +void to_point(float x1,float y1); + +void to_pos(float x2, float y2, float phi2); + +#endif /* ROBOT_H_ */ \ No newline at end of file