3-26-2015 DSV
Fork of scanner by
scanner.h@4:6a8d80954323, 2016-03-22 (annotated)
- Committer:
- j_j205
- Date:
- Tue Mar 22 03:00:16 2016 +0000
- Revision:
- 4:6a8d80954323
- Parent:
- 3:992558a021d7
- Child:
- 6:5e24ff86b743
3/21/16 JJ
Who changed what in which revision?
User | Revision | Line number | New 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" |
j_j205 | 0:999bb8fcd0b2 | 6 | |
j_j205 | 0:999bb8fcd0b2 | 7 | class Scanner |
j_j205 | 0:999bb8fcd0b2 | 8 | { |
j_j205 | 2:b281034eda86 | 9 | public: |
j_j205 | 2:b281034eda86 | 10 | Scanner(Serial &pc1, PinName _servoL, PinName _servoR, |
j_j205 | 4:6a8d80954323 | 11 | VL6180x &_shortRangeL, VL6180x &_shortRangeR, |
j_j205 | 4:6a8d80954323 | 12 | LongRangeSensor &_longRangeL, LongRangeSensor &_longRangeR, |
j_j205 | 4:6a8d80954323 | 13 | float _period = 0.2); |
j_j205 | 3:992558a021d7 | 14 | void huntMode(); |
j_j205 | 3:992558a021d7 | 15 | void avoidMode(); |
j_j205 | 3:992558a021d7 | 16 | void localize(); |
j_j205 | 3:992558a021d7 | 17 | float getDistLeft() {return distLeft;} |
j_j205 | 3:992558a021d7 | 18 | float getDistRight() {return distRight;} |
j_j205 | 3:992558a021d7 | 19 | float getDistForward() {return distForward;} |
j_j205 | 2:b281034eda86 | 20 | |
j_j205 | 0:999bb8fcd0b2 | 21 | private: |
j_j205 | 2:b281034eda86 | 22 | static const int MIN_DUTY = 0; |
j_j205 | 2:b281034eda86 | 23 | static const int MAX_DUTY = 12; |
j_j205 | 2:b281034eda86 | 24 | static const int HALF_DUTY = 6; |
j_j205 | 2:b281034eda86 | 25 | static const float DELTA_DUTY = 4.2e-3; |
j_j205 | 2:b281034eda86 | 26 | float DUTY[13]; // {0.0500, 0.0542, 0.0583, 0.0625, 0.0667, 0.0708, |
j_j205 | 2:b281034eda86 | 27 | // 0.0750, 0.0792, 0.0833, 0.0875, 0.0917, 0.0958, |
j_j205 | 2:b281034eda86 | 28 | // 0.1000}; |
j_j205 | 2:b281034eda86 | 29 | bool pitEnable; |
j_j205 | 2:b281034eda86 | 30 | int invertL; |
j_j205 | 2:b281034eda86 | 31 | int invertR; |
j_j205 | 2:b281034eda86 | 32 | int dutyL; |
j_j205 | 2:b281034eda86 | 33 | int dutyR; |
j_j205 | 3:992558a021d7 | 34 | float distLeft; |
j_j205 | 3:992558a021d7 | 35 | float distRight; |
j_j205 | 3:992558a021d7 | 36 | float distForward; |
j_j205 | 0:999bb8fcd0b2 | 37 | Serial &pc; |
j_j205 | 0:999bb8fcd0b2 | 38 | PwmOut servoL; |
j_j205 | 0:999bb8fcd0b2 | 39 | PwmOut servoR; |
j_j205 | 0:999bb8fcd0b2 | 40 | VL6180x &shortRangeL; |
j_j205 | 0:999bb8fcd0b2 | 41 | VL6180x &shortRangeR; |
j_j205 | 4:6a8d80954323 | 42 | LongRangeSensor &longRangeL; |
j_j205 | 4:6a8d80954323 | 43 | LongRangeSensor &longRangeR; |
j_j205 | 0:999bb8fcd0b2 | 44 | float period; |
j_j205 | 3:992558a021d7 | 45 | bool obstacle; |
j_j205 | 3:992558a021d7 | 46 | bool huntFlag; |
j_j205 | 3:992558a021d7 | 47 | bool avoidFlag; |
j_j205 | 2:b281034eda86 | 48 | |
j_j205 | 3:992558a021d7 | 49 | Ticker scanPit; // periodic interrupt timer |
j_j205 | 2:b281034eda86 | 50 | |
j_j205 | 2:b281034eda86 | 51 | void scan(); |
j_j205 | 2:b281034eda86 | 52 | |
j_j205 | 0:999bb8fcd0b2 | 53 | }; |
j_j205 | 0:999bb8fcd0b2 | 54 | |
j_j205 | 3:992558a021d7 | 55 | #endif // SCANNER_H |