Diff: autocar/autocar.h

Revision:

0:b9d5ff825f0f

Child:

1:c7d5b9662b4f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/autocar/autocar.h	Thu Jul 19 05:17:01 2018 +0000
@@ -0,0 +1,44 @@
+#ifndef AUTOCAR_H
+#define AUTOCAR_H
+
+#include "mbed.h"
+
+#include "Ping.h"
+
+// used for motors
+extern DigitalOut M1_enable;
+extern DigitalOut M2_enable;
+extern DigitalOut M1_in1;
+extern DigitalOut M1_in2;
+extern DigitalOut M2_in3;
+extern DigitalOut M2_in4;
+
+// used for IR sensors
+extern AnalogIn leftIR;
+extern AnalogIn middleIR;
+extern AnalogIn rightIR;
+
+// used for ultrasonic sensors
+extern Ping ultrasonic;
+
+// read the value of IR sensors
+void readIR(bool* left, bool* middle, bool* right, int threshold);
+int readIRValues();
+void readSensor(bool* left, bool* middle, bool* right, bool* hasObstacle, int threshold, int range);
+
+long map(long x, long in_min, long in_max, long out_min, long out_max);
+
+// used for controlling the direction of auto car
+void DriveSingleMotor(int m, int speed, int dir);
+void driveMotor(bool left, bool middle, bool right);
+void driveMotor(bool left, bool middle, bool right, bool hasObstacle);
+void driveMotorPID(int values, float Kp, float Ki, float Kd);
+
+void init();
+void stop();
+void forward();
+void backward();
+void turnLeft();
+void turnRight();
+
+#endif
\ No newline at end of file