Helvijs Kiselis / Mbed 2 deprecated MicromousePES2

main.cpp: Sensoren einlesen und Motoren ansteuern

Dependencies:   mbed

Motion.h

Committer:
Helvis
Date:
2018-04-11
Revision:
4:e74c06e43485
Parent:
1:1adf5dfcc7bb
Child:
5:47262622a9bf

File content as of revision 4:e74c06e43485:

#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);
        
        virtual ~Motion();
        void    reverse();
        void    move();
        void    rotateL();
        void    rotateR();

    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;
    
    };
    
#endif /* MOTION_H_ */