Diff: Motion.h

Revision:

1:1adf5dfcc7bb

Parent:

0:9a3e7847a4be

Child:

4:e74c06e43485

--- a/Motion.h	Mon Apr 09 19:26:46 2018 +0000
+++ b/Motion.h	Tue Apr 10 12:24:23 2018 +0000
@@ -3,18 +3,41 @@
 
 #include <cstdlib>
 #include <mbed.h>
+#include "EncoderCounter.h"
+#include "Controller.h"
+#include "IRSensor.h"
 
 
 class Motion {
     
-public:
+    public:
+    
+        Motion(Controller& controller, EncoderCounter& counterLeft,
+                EncoderCounter& counterRight, IRSensor& irSensorL,
+                IRSensor& irSensorC, IRSensor& irSensorR);
+        
+        virtual ~Motion();
+        void    reverse();
+        void    move();
+        void    rotateL();
+        void    rotateR();
 
-private:
+    private:
     
-    
-    
-    
-    
+        static const float speedLeft;
+        static const float speedRight;
+        
+        Controller& controller;
+        EncoderCounter& counterLeft;
+        EncoderCounter& counterRight;
+        IRSensor& irSensorL;
+        IRSensor& irSensorC;
+        IRSensor& irSensorR;
+        float distanceL;
+        float distanceC;
+        float distanceR;
+        short countsLeft;
+        short countsRight;
     
     };