Helvijs Kiselis / Mbed 2 deprecated MicromousePES2

main.cpp: Sensoren einlesen und Motoren ansteuern

Dependencies:   mbed

Motion.h@1:1adf5dfcc7bb, 2018-04-10 (annotated)

Committer:
Helvis
Date:
Tue Apr 10 12:24:23 2018 +0000
Revision:
1:1adf5dfcc7bb
Parent:
0:9a3e7847a4be
Child:
4:e74c06e43485
Klasse Motion geschrieben: Bewegung, Rotation; Test erg?nzt: Encoder Counts auslesen

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Helvis 0:9a3e7847a4be 1 #ifndef MOTION_H_
Helvis 0:9a3e7847a4be 2 #define MOTION_H_
Helvis 0:9a3e7847a4be 3
Helvis 0:9a3e7847a4be 4 #include <cstdlib>
Helvis 0:9a3e7847a4be 5 #include <mbed.h>
Helvis 1:1adf5dfcc7bb 6 #include "EncoderCounter.h"
Helvis 1:1adf5dfcc7bb 7 #include "Controller.h"
Helvis 1:1adf5dfcc7bb 8 #include "IRSensor.h"
Helvis 0:9a3e7847a4be 9
Helvis 0:9a3e7847a4be 10
Helvis 0:9a3e7847a4be 11 class Motion {
Helvis 0:9a3e7847a4be 12
Helvis 1:1adf5dfcc7bb 13 public:
Helvis 1:1adf5dfcc7bb 14
Helvis 1:1adf5dfcc7bb 15 Motion(Controller& controller, EncoderCounter& counterLeft,
Helvis 1:1adf5dfcc7bb 16 EncoderCounter& counterRight, IRSensor& irSensorL,
Helvis 1:1adf5dfcc7bb 17 IRSensor& irSensorC, IRSensor& irSensorR);
Helvis 1:1adf5dfcc7bb 18
Helvis 1:1adf5dfcc7bb 19 virtual ~Motion();
Helvis 1:1adf5dfcc7bb 20 void reverse();
Helvis 1:1adf5dfcc7bb 21 void move();
Helvis 1:1adf5dfcc7bb 22 void rotateL();
Helvis 1:1adf5dfcc7bb 23 void rotateR();
Helvis 0:9a3e7847a4be 24
Helvis 1:1adf5dfcc7bb 25 private:
Helvis 0:9a3e7847a4be 26
Helvis 1:1adf5dfcc7bb 27 static const float speedLeft;
Helvis 1:1adf5dfcc7bb 28 static const float speedRight;
Helvis 1:1adf5dfcc7bb 29
Helvis 1:1adf5dfcc7bb 30 Controller& controller;
Helvis 1:1adf5dfcc7bb 31 EncoderCounter& counterLeft;
Helvis 1:1adf5dfcc7bb 32 EncoderCounter& counterRight;
Helvis 1:1adf5dfcc7bb 33 IRSensor& irSensorL;
Helvis 1:1adf5dfcc7bb 34 IRSensor& irSensorC;
Helvis 1:1adf5dfcc7bb 35 IRSensor& irSensorR;
Helvis 1:1adf5dfcc7bb 36 float distanceL;
Helvis 1:1adf5dfcc7bb 37 float distanceC;
Helvis 1:1adf5dfcc7bb 38 float distanceR;
Helvis 1:1adf5dfcc7bb 39 short countsLeft;
Helvis 1:1adf5dfcc7bb 40 short countsRight;
Helvis 0:9a3e7847a4be 41
Helvis 0:9a3e7847a4be 42 };
Helvis 0:9a3e7847a4be 43
Helvis 0:9a3e7847a4be 44 #endif /* MOTION_H_ */