David Vasquez / scanner

3-26-2015 DSV

Fork of scanner by Justin Jordan

Diff: scanner.h

Revision:
7:52c4be3bfc1b
Parent:
6:5e24ff86b743
--- a/scanner.h	Fri Mar 25 19:51:11 2016 +0000
+++ b/scanner.h	Sat Mar 26 05:09:29 2016 +0000
@@ -3,15 +3,17 @@
 #include "mbed.h"
 #include "LongRangeSensor.h"
 #include "VL6180x.h"
+#include "StepperDrive.h"
 
 class Scanner
 {
 public:
-    Scanner(Serial &pc1, PinName _servoL, PinName _servoR,
+    Scanner(Serial &pc1, StepperDrive &_drive, PinName _servoL, PinName _servoR,
         VL6180x &_shortRangeL, VL6180x &_shortRangeR, 
         LongRangeSensor &_longRangeL, LongRangeSensor &_longRangeR,
         float _period = 0.2);
     void huntMode();
+    void hunt();
     void avoidMode();
     void localize();
     void localizeRight();
@@ -39,6 +41,7 @@
     float distForwardL;
     float distForwardR;
     Serial &pc;
+    StepperDrive &drive;
     PwmOut servoL;
     PwmOut servoR;
     VL6180x &shortRangeL;