Helvijs Kiselis
/
MicromousePES2
main.cpp: Sensoren einlesen und Motoren ansteuern
Motion.h
- Committer:
- luethale
- Date:
- 2018-04-16
- Revision:
- 8:862bf9225953
- Parent:
- 5:47262622a9bf
File content as of revision 8:862bf9225953:
#ifndef MOTION_H_ #define MOTION_H_ #include <cstdlib> #include <mbed.h> #include "EncoderCounter.h" #include "Controller.h" #include "IRSensor.h" class Motion { public: Motion(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight, IRSensor& irSensorL, IRSensor& irSensorC, IRSensor& irSensorR, DigitalOut& enableMotorDriver); virtual ~Motion(); void move(); void rotateL(); void rotateR(); void stop(); void rotate180(); void test(); private: static const float SPEEDLEFT; static const float SPEEDRIGHT; Controller& controller; EncoderCounter& counterLeft; EncoderCounter& counterRight; IRSensor& irSensorL; IRSensor& irSensorC; IRSensor& irSensorR; DigitalOut& enableMotorDriver; float distanceL; float distanceC; float distanceR; short countsL; short countsR; short countsLOld; short countsROld; }; #endif /* MOTION_H_ */