Helvijs Kiselis
/
MicromousePES2
main.cpp: Sensoren einlesen und Motoren ansteuern
Diff: Motion.h
- Revision:
- 1:1adf5dfcc7bb
- Parent:
- 0:9a3e7847a4be
- Child:
- 4:e74c06e43485
diff -r 9a3e7847a4be -r 1adf5dfcc7bb Motion.h --- 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; };