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Dependencies:   mbed

Fork of Versuch21 by Antonia Baumgartner

Classes/Motion.h@5:93d3efe46493, 2018-05-09 (annotated)

Committer:
baumgant
Date:
Wed May 09 13:33:59 2018 +0000
Revision:
5:93d3efe46493
Parent:
1:6ef5bc60e69c 
PES2;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baumgant 0:b886f13e4ac6 1 #ifndef MOTION_H_
baumgant 0:b886f13e4ac6 2 #define MOTION_H_
baumgant 0:b886f13e4ac6 3 #include <cstdlib>
baumgant 0:b886f13e4ac6 4 #include <mbed.h>
baumgant 0:b886f13e4ac6 5 #include "EncoderCounter.h"
baumgant 0:b886f13e4ac6 6 #include "Controller.h"
baumgant 0:b886f13e4ac6 7 #include "Spurhaltung.h"
mrbb2 1:6ef5bc60e69c 8 #include "IRSensorGF.h"
mrbb2 1:6ef5bc60e69c 9 #include "IRSensorG.h"
mrbb2 1:6ef5bc60e69c 10 #include "IRSensorK.h"
mrbb2 1:6ef5bc60e69c 11 #include "IRSensorZ.h"
baumgant 0:b886f13e4ac6 12
baumgant 0:b886f13e4ac6 13 class Motion {
baumgant 0:b886f13e4ac6 14
baumgant 0:b886f13e4ac6 15
baumgant 0:b886f13e4ac6 16 public:
mrbb2 1:6ef5bc60e69c 17 Motion(EncoderCounter& counterLeft, EncoderCounter& counterRight, Controller& controller, Spurhaltung& spurhaltung, IRSensorGF& Sensor1, IRSensorG& Sensor2, IRSensorG& Sensor3, IRSensorK& Sensor4, IRSensorK& Sensor5, IRSensorZ& Sensor6);
baumgant 0:b886f13e4ac6 18 virtual ~Motion();
baumgant 0:b886f13e4ac6 19 float read();
baumgant 0:b886f13e4ac6 20 int speedr();
baumgant 0:b886f13e4ac6 21 int speedl();
mrbb2 1:6ef5bc60e69c 22 void gerade();
mrbb2 1:6ef5bc60e69c 23 void drehenl90();
mrbb2 1:6ef5bc60e69c 24 void drehenr90();
mrbb2 1:6ef5bc60e69c 25 void drehen180();
baumgant 0:b886f13e4ac6 26 void switching(int D);
baumgant 0:b886f13e4ac6 27
baumgant 0:b886f13e4ac6 28 private:
baumgant 0:b886f13e4ac6 29
baumgant 0:b886f13e4ac6 30 EncoderCounter& counterLeft;
baumgant 0:b886f13e4ac6 31 EncoderCounter& counterRight;
baumgant 5:93d3efe46493 32 static const float SPEED;
baumgant 5:93d3efe46493 33 static const float DREHEN90;
baumgant 5:93d3efe46493 34 static const float GERADE;
baumgant 0:b886f13e4ac6 35 Controller& controller;
baumgant 0:b886f13e4ac6 36 Spurhaltung& spurhaltung;
mrbb2 1:6ef5bc60e69c 37 IRSensorGF& Sensor1;
mrbb2 1:6ef5bc60e69c 38 IRSensorG& Sensor2;
mrbb2 1:6ef5bc60e69c 39 IRSensorG& Sensor3;
mrbb2 1:6ef5bc60e69c 40 IRSensorK& Sensor4;
mrbb2 1:6ef5bc60e69c 41 IRSensorK& Sensor5;
mrbb2 1:6ef5bc60e69c 42 IRSensorZ& Sensor6;
baumgant 0:b886f13e4ac6 43 int D;
mrbb2 1:6ef5bc60e69c 44
mrbb2 1:6ef5bc60e69c 45
baumgant 0:b886f13e4ac6 46
baumgant 0:b886f13e4ac6 47
baumgant 0:b886f13e4ac6 48 };
baumgant 0:b886f13e4ac6 49
baumgant 0:b886f13e4ac6 50 #endif /* IR_MOTION_H_ */