Bill Bonner / LineFollower

A LineFollower library for ASEE-2014

Dependents:   ASEE-2014

LineFollower.h@2:7a4179249fa4, 2014-02-21 (annotated)

Committer:
blu12758
Date:
Fri Feb 21 04:54:56 2014 +0000
Revision:
2:7a4179249fa4
Parent:
1:c319e24af8df 
Debugging; ; Corrected motor speed assignments.; Fixed a for loop.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
blu12758 0:2623af9e8ef3 1 #include "mbed.h"
blu12758 0:2623af9e8ef3 2 #include <stdint.h>
blu12758 0:2623af9e8ef3 3
blu12758 0:2623af9e8ef3 4 #ifndef MBED_LINEFOLLOWER_H
blu12758 0:2623af9e8ef3 5 #define MBED_LINEFOLLOWER_H
blu12758 0:2623af9e8ef3 6
blu12758 0:2623af9e8ef3 7 class LineFollower{
blu12758 0:2623af9e8ef3 8
blu12758 0:2623af9e8ef3 9 public:
blu12758 0:2623af9e8ef3 10 /** Create a Line Follower interface for an IR Sensor Array
blu12758 0:2623af9e8ef3 11 *
blu12758 0:2623af9e8ef3 12 * @param ir1 IR Sensor 1
blu12758 0:2623af9e8ef3 13 * @param ir2 IR Sensor 2
blu12758 0:2623af9e8ef3 14 * @param ir3 IR Sensor 3
blu12758 0:2623af9e8ef3 15 * @param ir4 IR Sensor 4
blu12758 0:2623af9e8ef3 16 * @param ir5 IR Sensor 5
blu12758 0:2623af9e8ef3 17 * @param ir6 IR Sensor 6
blu12758 0:2623af9e8ef3 18 * @param ir7 IR Sensor 7
blu12758 0:2623af9e8ef3 19 * @param ir8 IR Sensor 8
blu12758 0:2623af9e8ef3 20 */
blu12758 0:2623af9e8ef3 21 Linefollower(DigitalIn ir1, DigitalIn ir2, DigitalIn ir3, DigitalIn ir4,
blu12758 0:2623af9e8ef3 22 DigitalIn ir5, DigitalIn ir6, DigitalIn ir7, DigitalIn ir8);
blu12758 0:2623af9e8ef3 23
blu12758 0:2623af9e8ef3 24
blu12758 0:2623af9e8ef3 25 /** Read the value of a LineFollower object
blu12758 0:2623af9e8ef3 26 *
blu12758 0:2623af9e8ef3 27 * @return The value of the Sensor
blu12758 0:2623af9e8ef3 28 */
blu12758 0:2623af9e8ef3 29 uint8_t read();
blu12758 1:c319e24af8df 30
blu12758 1:c319e24af8df 31 /** Follow a line
blu12758 1:c319e24af8df 32 *
blu12758 1:c319e24af8df 33 * @param l left drive motor
blu12758 1:c319e24af8df 34 * @param r right drive motor
blu12758 1:c319e24af8df 35 */
blu12758 1:c319e24af8df 36 void followLine(Motor l, Motor r);
blu12758 0:2623af9e8ef3 37
blu12758 0:2623af9e8ef3 38 protected:
blu12758 1:c319e24af8df 39 /* Constants */
blu12758 0:2623af9e8ef3 40 #define ROTATE_SPEED 100
blu12758 1:c319e24af8df 41 #define MAXSPEED 1
blu12758 1:c319e24af8df 42
blu12758 1:c319e24af8df 43 /* Attributes */
blu12758 1:c319e24af8df 44 DigitalIn array[8];
blu12758 0:2623af9e8ef3 45 DigitalIn _ir1;
blu12758 0:2623af9e8ef3 46 DigitalIn _ir2;
blu12758 0:2623af9e8ef3 47 DigitalIn _ir3;
blu12758 0:2623af9e8ef3 48 DigitalIn _ir4;
blu12758 0:2623af9e8ef3 49 DigitalIn _ir5;
blu12758 0:2623af9e8ef3 50 DigitalIn _ir6;
blu12758 0:2623af9e8ef3 51 DigitalIn _ir7;
blu12758 0:2623af9e8ef3 52 DigitalIn _ir8;
blu12758 0:2623af9e8ef3 53
blu12758 0:2623af9e8ef3 54
blu12758 0:2623af9e8ef3 55 };
blu12758 0:2623af9e8ef3 56
blu12758 0:2623af9e8ef3 57 #endif