Nicolae Marton
/
TDP3_OOP
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Diff: LineFollowingRobot/IRSensor_H.h
- Revision:
- 1:a2ceed49374e
- Child:
- 3:54c41af9e119
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LineFollowingRobot/IRSensor_H.h Sat Feb 02 16:11:37 2019 +0000
@@ -0,0 +1,42 @@
+#ifndef IRSensor_H
+#define IRSensor_H
+
+#include <mbed.h>
+#include "RobotControl_H.h"
+
+class IRSensor
+{
+private:
+
+ DigitalIn m_leftIR;
+ DigitalIn m_midLeftIR;
+ DigitalIn m_midIR;
+ DigitalIn m_midRightIR;
+ DigitalIn m_rightIR;
+
+ bool m_prevDirL, m_prevDirR;
+ bool m_lineSensor[5];
+
+ short int m_error, m_prevError;
+ const float m_Kp, m_Ki, m_Kd;
+ float m_P, m_I, m_D;
+
+
+
+public:
+
+ bool m_dirL, m_dirR, m_toggle;
+ float m_speedL, m_speedR;
+
+ IRSensor(PinName pin1, PinName pin2, PinName pin3, PinName pin4, PinName pin5, float Kp, float Ki, float Kd);
+ void Sample();
+ void WeightPID();
+ void CalculatePID();
+ void MotorControl(RobotControl controlLeft, RobotControl controlRight);
+
+
+};
+
+
+
+#endif
\ No newline at end of file