Library for the CustomExplorerRobot.
Dependents: CustomExplorerRobot_test
CustomExplorerRobot.h
- Committer:
- Usuke
- Date:
- 2016-02-27
- Revision:
- 1:dce53bcd79a4
- Parent:
- 0:ad4667fc5a76
File content as of revision 1:dce53bcd79a4:
/* mbed CustomExplorerRobot Library * * CustomExplorerRobot.h * * Copyright (c) 2016 ?????? * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #ifndef CUSTOMEXPLORERROBOT_H #define CUSTOMEXPLORERROBOT_H #include "mbed.h" #include "BD6212.h" /** CustomExplorerRobot control class * * Example: * @code * // Drive the CustomExplorerRobot forward, turn left, back, turn right, at half speed for half a second #include "mbed.h" #include "CustomExplorerRobot.h" CustomExplorerRobot cer; int main() { wait(0.5f); cer.forward(0.5f); wait(0.5f); cer.left(0.5f); wait(0.5f); cer.backward(0.5f); wait(0.5f); cer.right(0.5f); wait(0.5f); cer.stop(); return 0; } * @endcode */ class CustomExplorerRobot{ public: /** Create the CustomExplorerRobot object connected to the default pins */ CustomExplorerRobot(); /** Directly control the speed and direction of the left motor * * @param speed A normalised number -1.0 - 1.0 represents the full range. */ void left_motor(float speed); /** Directly control the speed and direction of the right motor * * @param speed A normalised number -1.0 - 1.0 represents the full range. */ void right_motor(float speed); /** Drive both motors forward as the same speed * * @param speed A normalised number 0 - 1.0 represents the full range. */ void forward(float speed); /** Drive both motors backward as the same speed * * @param speed A normalised number 0 - 1.0 represents the full range. */ void backward(float speed); /** Drive left motor backwards and right motor forwards at the same speed to turn on the spot * * @param speed A normalised number 0 - 1.0 represents the full range. */ void left(float speed); /** Drive left motor forward and right motor backwards at the same speed to turn on the spot * @param speed A normalised number 0 - 1.0 represents the full range. */ void right(float speed); /** Stop both motors * */ void stop(void); protected: BD6212 _right; BD6212 _left; DigitalOut _redled; DigitalOut _blueled; PwmOut _buzzer; }; #endif