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

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Show/hide line numbers wheel.h Source File

wheel.h

00001 #ifndef WHEEL_H
00002 #define WHEEL_H
00003 
00004 #include "mbed.h"
00005 
00006 class Wheel
00007 {
00008     public:
00009 
00010         
00011         Wheel(PinName pwm, PinName enable, PinName direction, PinName stop);
00012         void Enable();
00013         void Disable();
00014         void Stop();
00015         void setForwardDirection(int dir);
00016         void Speed(float speed);
00017         void Start();
00018         void Reverse();
00019 
00020     private:
00021         
00022         PwmOut m_pwm;
00023         DigitalOut m_enable;
00024         DigitalOut m_direction;
00025         DigitalOut m_stop;
00026         
00027         static const float period;
00028         
00029         int forwardDir;
00030         int reverseDir;
00031 };
00032 
00033 #endif // WHEEL_H