Francisco Santos
/
SRA_VFF
pepe
Robot.h
- Committer:
- PedroMartins96
- Date:
- 2019-05-22
- Revision:
- 1:2716ea33958b
- Parent:
- 0:a7324f51348d
File content as of revision 1:2716ea33958b:
/** @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 motion(); void pressed(); void mapa(int x3,int y3); void cria_obj(int c, int l, int p[]); void f_repulsiva(); void f_atrativa(); void print_map(int x3, int y3); void VFF(); #endif /* ROBOT_H_ */