LineFollower.h

00001 #include "mbed.h"
00002 #include <stdint.h>
00003 
00004 #ifndef MBED_LINEFOLLOWER_H
00005 #define MBED_LINEFOLLOWER_H
00006 
00007 class LineFollower{
00008 
00009     public:
00010     /** Create a Line Follower interface for an IR Sensor Array
00011     *
00012     * @param ir1  IR Sensor 1
00013     * @param ir2  IR Sensor 2
00014     * @param ir3  IR Sensor 3
00015     * @param ir4  IR Sensor 4
00016     * @param ir5  IR Sensor 5
00017     * @param ir6  IR Sensor 6
00018     * @param ir7  IR Sensor 7
00019     * @param ir8  IR Sensor 8
00020     */   
00021     Linefollower(DigitalIn ir1, DigitalIn ir2, DigitalIn ir3, DigitalIn ir4,
00022                 DigitalIn ir5, DigitalIn ir6, DigitalIn ir7, DigitalIn ir8);
00023                 
00024                     
00025     /** Read the value of a LineFollower object
00026     * 
00027     * @return The value of the Sensor
00028     */                    
00029     uint8_t read();
00030     
00031     /** Follow a line
00032     * 
00033     * @param    l left drive motor
00034     * @param    r  right drive motor
00035     */                    
00036     void followLine(Motor l, Motor r);
00037         
00038     protected:
00039     /* Constants */
00040     #define ROTATE_SPEED    100
00041     #define MAXSPEED        1
00042     
00043     /* Attributes */
00044     DigitalIn array[8];
00045     DigitalIn _ir1;
00046     DigitalIn _ir2;
00047     DigitalIn _ir3;
00048     DigitalIn _ir4;
00049     DigitalIn _ir5;
00050     DigitalIn _ir6;
00051     DigitalIn _ir7;
00052     DigitalIn _ir8;
00053     
00054 
00055 };
00056 
00057 #endif