Diff: Steering.h

Revision:

0:0bac1fed0273

Child:

1:4b719f80e9c4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Steering.h	Sat Aug 15 13:31:39 2015 +0000
@@ -0,0 +1,43 @@
+#ifndef INCLUDED_STEERING_H
+#define INCLUDED_STEERING_H
+
+#include "Command.h"
+
+class XBee;
+class I2CMotor;
+class I2CServo;
+
+class Steering{
+public:
+    Steering( I2CMotor** t, I2CServo** s, XBee* xbee );
+    ~Steering();
+    
+    void update( Command c );
+    
+private:
+    void updateMove( Command command );
+    void updateAbsRoll( Command command );
+    void updateRoll( Command command );
+    void updateStop( Command command );
+    void updateWaitServo( Command command );
+    
+    void setServoPositionByActionType( Command::ActionType action, Command command );
+    
+    static const int mNumOfTire;
+    static const float mAllowableError;
+    static const float mStoppingMoveAngle;
+    static const float mRollTirePosition[];
+    
+    float mOffsetHeadingAngle;
+    
+    float mMoveDirection_rad;
+    
+    I2CMotor** mTire;
+    I2CServo** mServo;
+    XBee* mXBee;
+    
+    Command::ActionType mActionType;
+    Command::ActionType mNextActionType;
+};
+
+#endif