Robot.h

00001 /** @file */
00002 #ifndef ROBOT_H_
00003 #define ROBOT_H_
00004 
00005 #include "mbed.h"
00006 
00007 extern int16_t countsLeft;
00008 extern int16_t countsRight;
00009 
00010 /** \brief Sets the speed for both motors.
00011  *
00012  * \param leftSpeed A number from -300 to 300 representing the speed and
00013  * direction of the left motor. Values of -300 or less result in full speed
00014  * reverse, and values of 300 or more result in full speed forward.
00015  * \param rightSpeed A number from -300 to 300 representing the speed and
00016  * direction of the right motor. Values of -300 or less result in full speed
00017  * reverse, and values of 300 or more result in full speed forward. */
00018 void setSpeeds(int16_t leftSpeed, int16_t rightSpeed);
00019 
00020 /** \brief Sets the speed for the left motor.
00021  *
00022  * \param speed A number from -300 to 300 representing the speed and
00023  * direction of the left motor.  Values of -300 or less result in full speed
00024  * reverse, and values of 300 or more result in full speed forward. */
00025 void setLeftSpeed(int16_t speed);
00026 
00027 /** \brief Sets the speed for the right motor.
00028  *
00029  * \param speed A number from -300 to 300 representing the speed and
00030  * direction of the right motor. Values of -300 or less result in full speed
00031  * reverse, and values of 300 or more result in full speed forward. */
00032 void setRightSpeed(int16_t speed);
00033 
00034 /*! Returns the number of counts that have been detected from the both
00035  * encoders.  These counts start at 0.  Positive counts correspond to forward
00036  * movement of the wheel of the Romi, while negative counts correspond
00037  * to backwards movement.
00038  *
00039  * The count is returned as a signed 16-bit integer.  When the count goes
00040  * over 32767, it will overflow down to -32768.  When the count goes below
00041  * -32768, it will overflow up to 32767. */
00042 void getCounts();
00043 
00044 /*! This function is just like getCounts() except it also clears the
00045  *  counts before returning.  If you call this frequently enough, you will
00046  *  not have to worry about the count overflowing. */
00047 void getCountsAndReset();
00048 
00049 #endif /* ROBOT_H_ */