Helvijs Kiselis / Mbed 2 deprecated MicromousePES2

main.cpp: Sensoren einlesen und Motoren ansteuern

Dependencies:   mbed

Motion.h@5:47262622a9bf, 2018-04-16 (annotated)

Committer:
Helvis
Date:
Mon Apr 16 12:44:48 2018 +0000
Revision:
5:47262622a9bf
Parent:
4:e74c06e43485 
testtestest;

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 5:47262622a9bf 17 IRSensor& irSensorC, IRSensor& irSensorR,
Helvis 5:47262622a9bf 18 DigitalOut& enableMotorDriver);
Helvis 1:1adf5dfcc7bb 19
Helvis 1:1adf5dfcc7bb 20 virtual ~Motion();
Helvis 1:1adf5dfcc7bb 21 void move();
Helvis 1:1adf5dfcc7bb 22 void rotateL();
Helvis 1:1adf5dfcc7bb 23 void rotateR();
Helvis 5:47262622a9bf 24 void stop();
Helvis 5:47262622a9bf 25 void rotate180();
Helvis 5:47262622a9bf 26 void test();
Helvis 0:9a3e7847a4be 27
Helvis 1:1adf5dfcc7bb 28 private:
Helvis 0:9a3e7847a4be 29
Helvis 4:e74c06e43485 30 static const float SPEEDLEFT;
Helvis 4:e74c06e43485 31 static const float SPEEDRIGHT;
Helvis 1:1adf5dfcc7bb 32
Helvis 1:1adf5dfcc7bb 33 Controller& controller;
Helvis 1:1adf5dfcc7bb 34 EncoderCounter& counterLeft;
Helvis 1:1adf5dfcc7bb 35 EncoderCounter& counterRight;
Helvis 1:1adf5dfcc7bb 36 IRSensor& irSensorL;
Helvis 1:1adf5dfcc7bb 37 IRSensor& irSensorC;
Helvis 1:1adf5dfcc7bb 38 IRSensor& irSensorR;
Helvis 5:47262622a9bf 39 DigitalOut& enableMotorDriver;
Helvis 1:1adf5dfcc7bb 40 float distanceL;
Helvis 1:1adf5dfcc7bb 41 float distanceC;
Helvis 1:1adf5dfcc7bb 42 float distanceR;
Helvis 5:47262622a9bf 43 short countsL;
Helvis 5:47262622a9bf 44 short countsR;
Helvis 5:47262622a9bf 45 short countsLOld;
Helvis 5:47262622a9bf 46 short countsROld;
Helvis 0:9a3e7847a4be 47
Helvis 0:9a3e7847a4be 48 };
Helvis 0:9a3e7847a4be 49
Helvis 0:9a3e7847a4be 50 #endif /* MOTION_H_ */