David Vasquez / scanner

3-26-2015 DSV

Fork of scanner by Justin Jordan

scanner.h@7:52c4be3bfc1b, 2016-03-26 (annotated)

Committer:
Hellkite85
Date:
Sat Mar 26 05:09:29 2016 +0000
Revision:
7:52c4be3bfc1b
Parent:
6:5e24ff86b743 
3-26-2015   DSV

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j_j205 0:999bb8fcd0b2 1 #ifndef SCANNER_H
j_j205 0:999bb8fcd0b2 2 #define SCANNER_H
j_j205 0:999bb8fcd0b2 3 #include "mbed.h"
j_j205 4:6a8d80954323 4 #include "LongRangeSensor.h"
j_j205 0:999bb8fcd0b2 5 #include "VL6180x.h"
Hellkite85 7:52c4be3bfc1b 6 #include "StepperDrive.h"
j_j205 0:999bb8fcd0b2 7
j_j205 0:999bb8fcd0b2 8 class Scanner
j_j205 0:999bb8fcd0b2 9 {
j_j205 2:b281034eda86 10 public:
Hellkite85 7:52c4be3bfc1b 11 Scanner(Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR,
j_j205 4:6a8d80954323 12 VL6180x &_shortRangeL, VL6180x &_shortRangeR,
j_j205 4:6a8d80954323 13 LongRangeSensor &_longRangeL, LongRangeSensor &_longRangeR,
j_j205 4:6a8d80954323 14 float _period = 0.2);
j_j205 3:992558a021d7 15 void huntMode();
Hellkite85 7:52c4be3bfc1b 16 void hunt();
j_j205 3:992558a021d7 17 void avoidMode();
j_j205 3:992558a021d7 18 void localize();
j_j205 6:5e24ff86b743 19 void localizeRight();
j_j205 6:5e24ff86b743 20 void localizeLeft();
j_j205 3:992558a021d7 21 float getDistLeft() {return distLeft;}
j_j205 3:992558a021d7 22 float getDistRight() {return distRight;}
j_j205 6:5e24ff86b743 23 float getDistForwardL() {return distForwardL;}
j_j205 6:5e24ff86b743 24 float getDistForwardR() {return distForwardR;}
j_j205 2:b281034eda86 25
j_j205 0:999bb8fcd0b2 26 private:
j_j205 2:b281034eda86 27 static const int MIN_DUTY = 0;
j_j205 6:5e24ff86b743 28 static const int MAX_DUTY = 6;
j_j205 6:5e24ff86b743 29 static const int HALF_DUTY = 3;
j_j205 2:b281034eda86 30 static const float DELTA_DUTY = 4.2e-3;
j_j205 2:b281034eda86 31 float DUTY[13]; // {0.0500, 0.0542, 0.0583, 0.0625, 0.0667, 0.0708,
j_j205 2:b281034eda86 32 // 0.0750, 0.0792, 0.0833, 0.0875, 0.0917, 0.0958,
j_j205 2:b281034eda86 33 // 0.1000};
j_j205 2:b281034eda86 34 bool pitEnable;
j_j205 2:b281034eda86 35 int invertL;
j_j205 2:b281034eda86 36 int invertR;
j_j205 2:b281034eda86 37 int dutyL;
j_j205 2:b281034eda86 38 int dutyR;
j_j205 3:992558a021d7 39 float distLeft;
j_j205 3:992558a021d7 40 float distRight;
j_j205 6:5e24ff86b743 41 float distForwardL;
j_j205 6:5e24ff86b743 42 float distForwardR;
j_j205 0:999bb8fcd0b2 43 Serial &pc;
Hellkite85 7:52c4be3bfc1b 44 StepperDrive &drive;
j_j205 0:999bb8fcd0b2 45 PwmOut servoL;
j_j205 0:999bb8fcd0b2 46 PwmOut servoR;
j_j205 0:999bb8fcd0b2 47 VL6180x &shortRangeL;
j_j205 0:999bb8fcd0b2 48 VL6180x &shortRangeR;
j_j205 4:6a8d80954323 49 LongRangeSensor &longRangeL;
j_j205 4:6a8d80954323 50 LongRangeSensor &longRangeR;
j_j205 0:999bb8fcd0b2 51 float period;
j_j205 3:992558a021d7 52 bool obstacle;
j_j205 3:992558a021d7 53 bool huntFlag;
j_j205 6:5e24ff86b743 54 bool avoidFlag;
j_j205 6:5e24ff86b743 55 bool objectFound;
j_j205 2:b281034eda86 56
j_j205 3:992558a021d7 57 Ticker scanPit; // periodic interrupt timer
j_j205 2:b281034eda86 58
j_j205 2:b281034eda86 59 void scan();
j_j205 2:b281034eda86 60
j_j205 0:999bb8fcd0b2 61 };
j_j205 0:999bb8fcd0b2 62
j_j205 3:992558a021d7 63 #endif // SCANNER_H