move.hpp

00001 /**
00002   ******************************************************************************
00003   * @file    MOVE.hpp
00004   * @author  RBRO/PJ-IU
00005   * @version V1.0.0
00006   * @date    day-month-year
00007   * @brief   This file contains the class declaration for the moving
00008   *          functionality.
00009   ******************************************************************************
00010  */
00011 
00012 /* Include guard */
00013 #ifndef MOVE_HPP
00014 #define MOVE_HPP
00015 
00016 #include <Drivers/servo.hpp>
00017 #include <Drivers/vnh.hpp>
00018 
00019 /**
00020  * @brief  Move class
00021  * It is used for executing move commands.
00022  * 
00023  */
00024 class Move
00025 {
00026 public:
00027     /* Constructor */
00028     Move(PinName, PinName, PinName, PinName, PinName);//A0
00029     /* Destructor */
00030     ~Move();
00031     /* Steer */
00032     void Steer(float angle);// -25 to + 25 degrees, - (left), + (right)
00033     /* Speed */
00034     void Speed(float speed);//-100 to + 100 -(back), + (front)   
00035     /* Brake */ 
00036     void Brake();
00037     /* Inverse */
00038     void Inverse(float f_speed);
00039     /* Test */
00040     void TestCar();
00041     /* Reset */
00042     void ResetCar();
00043     /* Return bridge object */
00044     drivers::VNH& getVNH();
00045             
00046 private:
00047     /* Servo pbject */
00048     drivers::SERVO       servo;
00049     /* Bridge object */
00050     drivers::VNH         vnh;
00051 };
00052 
00053 #endif