Diff: move.h

Revision:

0:178a07cd3e39

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/move.h	Fri Dec 16 03:45:52 2011 +0000
@@ -0,0 +1,72 @@
+#ifndef _MOVE_H
+#define _MOVE_H
+
+#include "mbed.h"
+#include "Motor.h"
+
+#define LEFT_C -1
+#define RIGHT_C 1
+#define FULL_FOWARD 1
+#define FULL_REVERSE -1
+#define NEUTRAL 0
+#define LEFT -1
+#define RIGHT 1
+
+
+#define QTI_THRESH 0.48
+
+#define TICS_PER_MM 40.8407045
+
+typedef enum {Stopped, Moving} MovementState;
+extern MovementState move_state;
+
+extern AnalogIn r_encoder;
+extern AnalogIn l_encoder;
+extern AnalogIn srf;
+volatile extern int prev_r_enc;
+volatile extern int prev_l_enc;
+
+extern DigitalOut r_charge;
+extern DigitalOut l_charge;
+
+extern DigitalOut motor_reset;
+extern Motor r_motor;
+extern Motor l_motor;
+
+extern Serial pc;
+
+volatile extern int r_tics;
+volatile extern int l_tics;
+
+volatile extern int r_goal;
+volatile extern int l_goal;
+
+volatile extern float r_C;
+volatile extern float l_C;
+
+void moveforward(Motor right,float speed);
+void movebackward(Motor right,float speed);
+void move(float speed, int tics);
+void motors_stop();
+void rotate(int);
+
+
+void QTIsensor_init();
+void QTIsensor_charge();
+void QTIsensor_discharge();
+
+//Mine
+//extern MovementState move_state;
+
+//void accelerate(Motor m, float distance);
+//void move(int x, int y);
+//void move_line(float distance);
+//void rotate_deg(int degrees);
+//void rotate_t(float time);
+//void move_arc(int radius, int length, int x, int y);
+
+void calibrate(float speed, int rots);
+void update_movement(float speed);
+
+#endif
+ 
\ No newline at end of file