Implementation of the fuzzy control algorithm for obstacle avoidance. This algorithm is for a two-wheel differential drive robot. It uses distance information from 3 analogue IR range sensors and controls DC motors using ESCON servo controllers. This C++ library is written for mbed LPC1768. For any questions and/or reporting bugs contact author: vans.edw@gmail.com
sensor.h
00001 #ifndef SENSOR_H 00002 #define SENSOR_H 00003 00004 #include "mbed.h" 00005 00006 class Sensor 00007 { 00008 public: 00009 00010 Sensor(PinName pin); 00011 float getDist(); 00012 00013 static const int N; 00014 static const float range; 00015 static float voltage[13]; 00016 static float meters[13]; 00017 00018 00019 private: 00020 00021 00022 AnalogIn dist; 00023 float distance; 00024 float LinearInterpolate(float volts); 00025 }; 00026 00027 #endif // SENSOR_H
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