3-26-2015 DSV
Fork of scanner by
Diff: scanner.h
- Revision:
- 3:992558a021d7
- Parent:
- 2:b281034eda86
- Child:
- 4:6a8d80954323
diff -r b281034eda86 -r 992558a021d7 scanner.h --- a/scanner.h Tue Feb 23 23:35:41 2016 +0000 +++ b/scanner.h Mon Mar 21 01:32:09 2016 +0000 @@ -10,9 +10,12 @@ Scanner(Serial &pc1, PinName _servoL, PinName _servoR, VL6180x &_shortRangeL, VL6180x &_shortRangeR, Gp2x &_longRangeL, Gp2x &_longRangeR, float _period = 0.2); - void hunt(); - void avoid(); - int localize(); + void huntMode(); + void avoidMode(); + void localize(); + float getDistLeft() {return distLeft;} + float getDistRight() {return distRight;} + float getDistForward() {return distForward;} private: static const int MIN_DUTY = 0; @@ -27,6 +30,9 @@ int invertR; int dutyL; int dutyR; + float distLeft; + float distRight; + float distForward; Serial &pc; PwmOut servoL; PwmOut servoR; @@ -35,11 +41,14 @@ Gp2x &longRangeL; Gp2x &longRangeR; float period; + bool obstacle; + bool huntFlag; + bool avoidFlag; - Ticker pit; // periodic interrupt timer + Ticker scanPit; // periodic interrupt timer void scan(); }; -#endif // SCANNER_H \ No newline at end of file +#endif // SCANNER_H