Helvijs Kiselis
/
Micromouse
Algorithmus
Motion.h@2:f898adf2d817, 2018-04-19 (annotated)
- Committer:
- Helvis
- Date:
- Thu Apr 19 11:26:51 2018 +0000
- Revision:
- 2:f898adf2d817
- Parent:
- 1:2b5f79285a3e
- Child:
- 5:e2c0a4388d85
v0.9.1: +Methoden rechts/links abbiegen
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Helvis | 1:2b5f79285a3e | 1 | #ifndef MOTION_H_ |
Helvis | 1:2b5f79285a3e | 2 | #define MOTION_H_ |
Helvis | 1:2b5f79285a3e | 3 | |
Helvis | 1:2b5f79285a3e | 4 | #include <cstdlib> |
Helvis | 1:2b5f79285a3e | 5 | #include <mbed.h> |
Helvis | 1:2b5f79285a3e | 6 | #include "EncoderCounter.h" |
Helvis | 1:2b5f79285a3e | 7 | #include "Controller.h" |
Helvis | 1:2b5f79285a3e | 8 | #include "IRSensor.h" |
Helvis | 1:2b5f79285a3e | 9 | |
Helvis | 1:2b5f79285a3e | 10 | |
Helvis | 1:2b5f79285a3e | 11 | class Motion { |
Helvis | 1:2b5f79285a3e | 12 | |
Helvis | 1:2b5f79285a3e | 13 | public: |
Helvis | 1:2b5f79285a3e | 14 | |
Helvis | 1:2b5f79285a3e | 15 | Motion(Controller& controller, EncoderCounter& counterLeft, |
Helvis | 1:2b5f79285a3e | 16 | EncoderCounter& counterRight, IRSensor& irSensorL, |
Helvis | 1:2b5f79285a3e | 17 | IRSensor& irSensorC, IRSensor& irSensorR, AnalogIn& lineSensor, |
Helvis | 1:2b5f79285a3e | 18 | DigitalOut& enableMotorDriver); |
Helvis | 1:2b5f79285a3e | 19 | |
Helvis | 1:2b5f79285a3e | 20 | virtual ~Motion(); |
Helvis | 1:2b5f79285a3e | 21 | void move(); |
Helvis | 1:2b5f79285a3e | 22 | void moveFast(); |
Helvis | 1:2b5f79285a3e | 23 | void scanMove(); |
Helvis | 1:2b5f79285a3e | 24 | void rotateL(); |
Helvis | 1:2b5f79285a3e | 25 | void rotateR(); |
Helvis | 2:f898adf2d817 | 26 | void turnL(); |
Helvis | 2:f898adf2d817 | 27 | void turnR(); |
Helvis | 1:2b5f79285a3e | 28 | void stop(); |
Helvis | 1:2b5f79285a3e | 29 | void rotate180(); |
Helvis | 1:2b5f79285a3e | 30 | void control(); |
Helvis | 1:2b5f79285a3e | 31 | void runTask(int task); |
Helvis | 1:2b5f79285a3e | 32 | int finish(); |
Helvis | 1:2b5f79285a3e | 33 | |
Helvis | 1:2b5f79285a3e | 34 | private: |
Helvis | 1:2b5f79285a3e | 35 | |
Helvis | 1:2b5f79285a3e | 36 | static const float LEFT_MID_VAL; |
Helvis | 1:2b5f79285a3e | 37 | static const float RIGHT_MID_VAL; |
Helvis | 1:2b5f79285a3e | 38 | static const float KP; |
Helvis | 1:2b5f79285a3e | 39 | static const float KD; |
Helvis | 1:2b5f79285a3e | 40 | |
Helvis | 1:2b5f79285a3e | 41 | Controller& controller; |
Helvis | 1:2b5f79285a3e | 42 | EncoderCounter& counterLeft; |
Helvis | 1:2b5f79285a3e | 43 | EncoderCounter& counterRight; |
Helvis | 1:2b5f79285a3e | 44 | IRSensor& irSensorL; |
Helvis | 1:2b5f79285a3e | 45 | IRSensor& irSensorC; |
Helvis | 1:2b5f79285a3e | 46 | IRSensor& irSensorR; |
Helvis | 1:2b5f79285a3e | 47 | AnalogIn& lineSensor; |
Helvis | 1:2b5f79285a3e | 48 | DigitalOut& enableMotorDriver; |
Helvis | 1:2b5f79285a3e | 49 | |
Helvis | 1:2b5f79285a3e | 50 | float distanceL; |
Helvis | 1:2b5f79285a3e | 51 | float distanceC; |
Helvis | 1:2b5f79285a3e | 52 | float distanceR; |
Helvis | 1:2b5f79285a3e | 53 | short countsL; |
Helvis | 1:2b5f79285a3e | 54 | short countsR; |
Helvis | 1:2b5f79285a3e | 55 | short countsLOld; |
Helvis | 1:2b5f79285a3e | 56 | short countsROld; |
Helvis | 1:2b5f79285a3e | 57 | float speedLeft; |
Helvis | 1:2b5f79285a3e | 58 | float speedRight; |
Helvis | 1:2b5f79285a3e | 59 | float errorP; |
Helvis | 1:2b5f79285a3e | 60 | float errorD; |
Helvis | 1:2b5f79285a3e | 61 | float oldErrorP; |
Helvis | 1:2b5f79285a3e | 62 | float totalError; |
Helvis | 1:2b5f79285a3e | 63 | int waitStop; |
Helvis | 1:2b5f79285a3e | 64 | int task; |
Helvis | 1:2b5f79285a3e | 65 | int line; |
Helvis | 1:2b5f79285a3e | 66 | }; |
Helvis | 1:2b5f79285a3e | 67 | |
Helvis | 1:2b5f79285a3e | 68 | #endif /* MOTION_H_ */ |