Diff: movement.h

Revision:

0:6893dd9a88b3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/movement.h	Wed Dec 14 04:58:43 2011 +0000
@@ -0,0 +1,45 @@
+#include "mbed.h"
+#include "Motor.h"
+
+#ifndef _MOVEMENT_H
+#define _MOVEMENT_H
+
+#define qtithreshold 0.3
+
+#define spokeconversionfactor 0.5
+
+
+extern AnalogIn rightsensorval;
+extern AnalogIn leftsensorval;
+
+extern DigitalOut rightsensorcontrol;
+extern DigitalOut leftsensorcontrol;
+
+extern DigitalOut motor_reset;
+extern Motor motor_right;
+extern Motor motor_left;
+
+extern Serial pc;
+
+volatile extern int rightspokecount;
+volatile extern int leftspokecount;
+
+volatile extern int rightspokecountrequired;
+volatile extern int leftspokecountrequired;
+
+volatile extern float rightmotorspeed;
+volatile extern float leftmotorspeed;
+
+void moveforward(Motor right,float speed);
+void movebackward(Motor right,float speed);
+void move(int distance);
+void motors_stop();
+void calibratemotors();
+
+
+void QTIsensor_init();
+void QTIsensor_charge();
+void QTIsensor_discharge();
+
+#endif
+