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Dependencies:   mbed

LineFollowingRobot/IRSensor_H.h

Committer:
Nicolaemf
Date:
2019-02-02
Revision:
1:a2ceed49374e
Child:
3:54c41af9e119

File content as of revision 1:a2ceed49374e:

#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