David Vasquez / scanner

3-26-2015 DSV

Fork of scanner by Justin Jordan

scanner.h

Committer:
j_j205
Date:
2016-02-17
Revision:
0:999bb8fcd0b2
Child:
1:2714d60284ef
Child:
2:b281034eda86

File content as of revision 0:999bb8fcd0b2:

#ifndef SCANNER_H
#define SCANNER_H
#include "mbed.h"
#include "Gp2x.h"
#include "VL6180x.h"

class Scanner
{
public: 
    Scanner(Serial &pc1, PinName _servoL, PinName _servoR, 
    VL6180x &_shortRangeL, VL6180x &_shortRangeR, Gp2x &_longRangeL,
    Gp2x &_longRangeR, float _period);
    int hunt();
    int avoid();
    int localize();  
    
private:
    Serial &pc;
    PwmOut servoL;
    PwmOut servoR;
    VL6180x &shortRangeL;
    VL6180x &shortRangeR;
    Gp2x &longRangeL;
    Gp2x &longRangeR;
    float period;
    
    Ticker pit; // periodic interrupt timer
    
    void scan();    
    
};

#endif // SCANNER_H