ultrasonic_buggy.h

00001 /*********************************************************
00002 *buggy_functions.h                                       *
00003 *Author: Elijah Orr & Dan Argust                         *
00004 *                                                        *
00005 *A library of functions that can be used to control the  *
00006 *RenBuggy.                                               *
00007 *********************************************************/
00008 
00009 /* include guards are used to prevent problems caused by 
00010 multiple definitions */
00011 #ifndef BUGGY_FUNCTIONS_H
00012 #define BUGGY_FUNCTIONS_H
00013 
00014 /* mbed.h must be included in this file also */
00015 #include "mbed.h"
00016 
00017 /* #define LeftMotorPin p5 tells the preprocessor to replace
00018 any mention of LeftMotorPin with p5 etc. */
00019 #define LEFT_MOTOR_PIN P0_9
00020 #define RIGHT_MOTOR_PIN P0_8
00021 
00022 /* define pins to be used to operate the ultrasonic */
00023 #define TRIGGER_PIN P0_11
00024 #define LEFT_ECHO_PIN P1_20
00025 #define RIGHT_ECHO_PIN P0_12
00026 
00027 #define SPEED_OF_SOUND 340          //speed of sound =~340m/s at standard conditions
00028 
00029 /* these are function prototypes that declare all the functions
00030 in the library.*/
00031 extern void forward(float);         //Move the buggy forward for (float) seconds
00032 extern void left(float);            //Turn left for (float) seconds
00033 extern void right(float);           //Turn right for (float) seconds
00034 extern void hold(float);            //Hold the buggy in an idle state for (float) seconds
00035 extern void stop();                 //Stop all motors
00036 
00037 extern float getDistance_l(void);   //get a distance reading in metres from the left sensor
00038 extern float getDistance_r(void);   //get a distance reading in metres from the right sensor
00039 void resetSR04(void);               //reset both ultrasonic modules
00040 
00041 #endif // BUGGY_FUNCTIONS_H