Diff: linefollower.h

Revision:

1:243ec35fafcd

Parent:

0:1f5782fc5ca3

--- a/linefollower.h	Wed May 09 15:35:31 2018 +0000
+++ b/linefollower.h	Wed May 16 19:12:20 2018 +0000
@@ -1,11 +1,12 @@
 #include "mbed.h"
 #include "m3pi.h"
 #include "manchester.h"
+#include "analoog.h"
 
 #pragma once 
 
 // Minimum and maximum motor speeds
-#define MAX_SPEED 0.2
+#define MAX_SPEED 0.22
 #define MIN_SPEED 0
 
 // PID terms
@@ -17,36 +18,129 @@
     
     class LineFollower{
         public:
+            /*
+            * Constructor for LineFollower class.
+            *
+            @param Nothing.
+            @return Nothing.
+            */
             LineFollower(void);
+            
+            /*
+            * Most important method of this class, contains the state machine.
+            *
+            @param Nothing.
+            @return Nothing.
+            */
             void followTheLine(void);
         private:
+            
             m3pi m3pi;
-            manchester decoder;
+            Manchester vlcDecoder;
+            AnalogReader analogSensor;
             
             enum lineFollowerStates{
                 STATE_INIT,
                 STATE_COMPUTE,
                 STATE_FORWARD,
+                STATE_LONG_FORWARD,
                 STATE_LEFT,
                 STATE_RIGHT,
-                STATE_BACKWARD,
+                STATE_TURN180,
                 STATE_STOP,
                 STATE_VLC
             };
             lineFollowerStates CurrentLineFollowerState;
             
+            /*
+            * Method that computes the derivative.
+            *
+            @param Nothing.
+            @return The derivate as a float.
+            */
             float computeDerivative(void);
+            
+            /*
+            * Method that computes the integral.
+            *
+            @param Nothing.
+            @return The integral as a float.
+            */
             float computeIntegral(void);
+            
+            /*
+            * Method that computes the power.
+            *
+            @param Nothing.
+            @return The power as a float.
+            */
             float computePower(void);
+            
+            /*
+            * Method that computes the new speeds for the robot, after the calculations.
+            *
+            @param Nothing.
+            @return Nothing.
+            */
             void computeNewSpeeds(void);
+            
+            /*
+            * Method that checks the limits of the robot.
+            *
+            @param Nothing.
+            @return Nothing.
+            */
             void limitChecks(void);
 
+            /*
+            * Method that makes the robot turn left 90 degrees.
+            *
+            @param Nothing.
+            @return Nothing.
+            */
             void turnLeft90(void);
+            
+            /*
+            * Method that makes the robot turn right 90 degrees.
+            *
+            @param Nothing.
+            @return Nothing.
+            */
             void turnRight90(void);
+            
+            /*
+            * Method that makes the robot go backward.
+            *
+            @param Nothing.
+            @return Nothing.
+            */
             void goBackwards(void);
+            
+            /*
+            * Method that makes the robot go forward.
+            *
+            @param Nothing.
+            @return Nothing.
+            */
             void goForwards(void);
             
-            void checkForIntersection(void);
+            /*
+            * Method that makes the robot 'jiggle'.
+            * The purpose of this is to make the robot search the area for a LED.
+            *
+            @param Nothing.
+            @return Nothing.
+            */
+            void Scan(void);
+            
+            /*
+            * Method that uses the 2 leftmost and 2 rightmost IR sensors
+            * to determine if an intersection is ahead.
+            *
+            @param Nothing.
+            @return Nothing.
+            */
+            bool checkForIntersection(void);
             
             float right;
             float left;
@@ -55,9 +149,5 @@
             float derivative,proportional,integral;
             float power;
             float speed;
-            
-            bool disableStop;
-            bool foundIntersection;
-
     };
 };
\ No newline at end of file