Nicolae Marton / Mbed 2 deprecated TDP3_OOP

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Dependencies:   mbed

LineFollowingRobot/IRSensor_H.h@1:a2ceed49374e, 2019-02-02 (annotated)

Committer:
Nicolaemf
Date:
Sat Feb 02 16:11:37 2019 +0000
Revision:
1:a2ceed49374e
Child:
3:54c41af9e119
implemented IRsensor class and added all the needed methods except weightPID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nicolaemf 1:a2ceed49374e 1 #ifndef IRSensor_H
Nicolaemf 1:a2ceed49374e 2 #define IRSensor_H
Nicolaemf 1:a2ceed49374e 3
Nicolaemf 1:a2ceed49374e 4 #include <mbed.h>
Nicolaemf 1:a2ceed49374e 5 #include "RobotControl_H.h"
Nicolaemf 1:a2ceed49374e 6
Nicolaemf 1:a2ceed49374e 7 class IRSensor
Nicolaemf 1:a2ceed49374e 8 {
Nicolaemf 1:a2ceed49374e 9 private:
Nicolaemf 1:a2ceed49374e 10
Nicolaemf 1:a2ceed49374e 11 DigitalIn m_leftIR;
Nicolaemf 1:a2ceed49374e 12 DigitalIn m_midLeftIR;
Nicolaemf 1:a2ceed49374e 13 DigitalIn m_midIR;
Nicolaemf 1:a2ceed49374e 14 DigitalIn m_midRightIR;
Nicolaemf 1:a2ceed49374e 15 DigitalIn m_rightIR;
Nicolaemf 1:a2ceed49374e 16
Nicolaemf 1:a2ceed49374e 17 bool m_prevDirL, m_prevDirR;
Nicolaemf 1:a2ceed49374e 18 bool m_lineSensor[5];
Nicolaemf 1:a2ceed49374e 19
Nicolaemf 1:a2ceed49374e 20 short int m_error, m_prevError;
Nicolaemf 1:a2ceed49374e 21 const float m_Kp, m_Ki, m_Kd;
Nicolaemf 1:a2ceed49374e 22 float m_P, m_I, m_D;
Nicolaemf 1:a2ceed49374e 23
Nicolaemf 1:a2ceed49374e 24
Nicolaemf 1:a2ceed49374e 25
Nicolaemf 1:a2ceed49374e 26 public:
Nicolaemf 1:a2ceed49374e 27
Nicolaemf 1:a2ceed49374e 28 bool m_dirL, m_dirR, m_toggle;
Nicolaemf 1:a2ceed49374e 29 float m_speedL, m_speedR;
Nicolaemf 1:a2ceed49374e 30
Nicolaemf 1:a2ceed49374e 31 IRSensor(PinName pin1, PinName pin2, PinName pin3, PinName pin4, PinName pin5, float Kp, float Ki, float Kd);
Nicolaemf 1:a2ceed49374e 32 void Sample();
Nicolaemf 1:a2ceed49374e 33 void WeightPID();
Nicolaemf 1:a2ceed49374e 34 void CalculatePID();
Nicolaemf 1:a2ceed49374e 35 void MotorControl(RobotControl controlLeft, RobotControl controlRight);
Nicolaemf 1:a2ceed49374e 36
Nicolaemf 1:a2ceed49374e 37
Nicolaemf 1:a2ceed49374e 38 };
Nicolaemf 1:a2ceed49374e 39
Nicolaemf 1:a2ceed49374e 40
Nicolaemf 1:a2ceed49374e 41
Nicolaemf 1:a2ceed49374e 42 #endif