Diff: linefollower.h

Revision:

0:1f5782fc5ca3

Child:

1:243ec35fafcd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/linefollower.h	Wed May 09 15:35:31 2018 +0000
@@ -0,0 +1,63 @@
+#include "mbed.h"
+#include "m3pi.h"
+#include "manchester.h"
+
+#pragma once 
+
+// Minimum and maximum motor speeds
+#define MAX_SPEED 0.2
+#define MIN_SPEED 0
+
+// PID terms
+#define P_TERM 1
+#define I_TERM 0
+#define D_TERM 10
+
+namespace ProjectTwo{
+    
+    class LineFollower{
+        public:
+            LineFollower(void);
+            void followTheLine(void);
+        private:
+            m3pi m3pi;
+            manchester decoder;
+            
+            enum lineFollowerStates{
+                STATE_INIT,
+                STATE_COMPUTE,
+                STATE_FORWARD,
+                STATE_LEFT,
+                STATE_RIGHT,
+                STATE_BACKWARD,
+                STATE_STOP,
+                STATE_VLC
+            };
+            lineFollowerStates CurrentLineFollowerState;
+            
+            float computeDerivative(void);
+            float computeIntegral(void);
+            float computePower(void);
+            void computeNewSpeeds(void);
+            void limitChecks(void);
+
+            void turnLeft90(void);
+            void turnRight90(void);
+            void goBackwards(void);
+            void goForwards(void);
+            
+            void checkForIntersection(void);
+            
+            float right;
+            float left;
+            float current_pos_of_line;
+            float previous_pos_of_line;
+            float derivative,proportional,integral;
+            float power;
+            float speed;
+            
+            bool disableStop;
+            bool foundIntersection;
+
+    };
+};
\ No newline at end of file