Shahan Najam
Final project 4180 (incomplete)
movement.h@0:6893dd9a88b3, 2011-12-14 (annotated)
- Committer:
- Shahan
- Date:
- Wed Dec 14 04:58:43 2011 +0000
- Revision:
- 0:6893dd9a88b3
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Shahan | 0:6893dd9a88b3 | 1 | #include "mbed.h" |
| Shahan | 0:6893dd9a88b3 | 2 | #include "Motor.h" |
| Shahan | 0:6893dd9a88b3 | 3 | |
| Shahan | 0:6893dd9a88b3 | 4 | #ifndef _MOVEMENT_H |
| Shahan | 0:6893dd9a88b3 | 5 | #define _MOVEMENT_H |
| Shahan | 0:6893dd9a88b3 | 6 | |
| Shahan | 0:6893dd9a88b3 | 7 | #define qtithreshold 0.3 |
| Shahan | 0:6893dd9a88b3 | 8 | |
| Shahan | 0:6893dd9a88b3 | 9 | #define spokeconversionfactor 0.5 |
| Shahan | 0:6893dd9a88b3 | 10 | |
| Shahan | 0:6893dd9a88b3 | 11 | |
| Shahan | 0:6893dd9a88b3 | 12 | extern AnalogIn rightsensorval; |
| Shahan | 0:6893dd9a88b3 | 13 | extern AnalogIn leftsensorval; |
| Shahan | 0:6893dd9a88b3 | 14 | |
| Shahan | 0:6893dd9a88b3 | 15 | extern DigitalOut rightsensorcontrol; |
| Shahan | 0:6893dd9a88b3 | 16 | extern DigitalOut leftsensorcontrol; |
| Shahan | 0:6893dd9a88b3 | 17 | |
| Shahan | 0:6893dd9a88b3 | 18 | extern DigitalOut motor_reset; |
| Shahan | 0:6893dd9a88b3 | 19 | extern Motor motor_right; |
| Shahan | 0:6893dd9a88b3 | 20 | extern Motor motor_left; |
| Shahan | 0:6893dd9a88b3 | 21 | |
| Shahan | 0:6893dd9a88b3 | 22 | extern Serial pc; |
| Shahan | 0:6893dd9a88b3 | 23 | |
| Shahan | 0:6893dd9a88b3 | 24 | volatile extern int rightspokecount; |
| Shahan | 0:6893dd9a88b3 | 25 | volatile extern int leftspokecount; |
| Shahan | 0:6893dd9a88b3 | 26 | |
| Shahan | 0:6893dd9a88b3 | 27 | volatile extern int rightspokecountrequired; |
| Shahan | 0:6893dd9a88b3 | 28 | volatile extern int leftspokecountrequired; |
| Shahan | 0:6893dd9a88b3 | 29 | |
| Shahan | 0:6893dd9a88b3 | 30 | volatile extern float rightmotorspeed; |
| Shahan | 0:6893dd9a88b3 | 31 | volatile extern float leftmotorspeed; |
| Shahan | 0:6893dd9a88b3 | 32 | |
| Shahan | 0:6893dd9a88b3 | 33 | void moveforward(Motor right,float speed); |
| Shahan | 0:6893dd9a88b3 | 34 | void movebackward(Motor right,float speed); |
| Shahan | 0:6893dd9a88b3 | 35 | void move(int distance); |
| Shahan | 0:6893dd9a88b3 | 36 | void motors_stop(); |
| Shahan | 0:6893dd9a88b3 | 37 | void calibratemotors(); |
| Shahan | 0:6893dd9a88b3 | 38 | |
| Shahan | 0:6893dd9a88b3 | 39 | |
| Shahan | 0:6893dd9a88b3 | 40 | void QTIsensor_init(); |
| Shahan | 0:6893dd9a88b3 | 41 | void QTIsensor_charge(); |
| Shahan | 0:6893dd9a88b3 | 42 | void QTIsensor_discharge(); |
| Shahan | 0:6893dd9a88b3 | 43 | |
| Shahan | 0:6893dd9a88b3 | 44 | #endif |
| Shahan | 0:6893dd9a88b3 | 45 |