Diff: scanner.h

Revision:

6:5e24ff86b743

Parent:

4:6a8d80954323

--- a/scanner.h	Tue Mar 22 18:11:36 2016 +0000
+++ b/scanner.h	Fri Mar 25 19:51:11 2016 +0000
@@ -14,14 +14,17 @@
     void huntMode();
     void avoidMode();
     void localize();
+    void localizeRight();
+    void localizeLeft();
     float getDistLeft() {return distLeft;}
     float getDistRight() {return distRight;}
-    float getDistForward() {return distForward;}
+    float getDistForwardL() {return distForwardL;}
+    float getDistForwardR() {return distForwardR;}
 
 private:
     static const int MIN_DUTY = 0;
-    static const int MAX_DUTY = 12;
-    static const int HALF_DUTY = 6;
+    static const int MAX_DUTY = 6;
+    static const int HALF_DUTY = 3;
     static const float DELTA_DUTY = 4.2e-3;
     float DUTY[13]; // {0.0500, 0.0542, 0.0583, 0.0625, 0.0667, 0.0708,
                     // 0.0750, 0.0792, 0.0833, 0.0875, 0.0917, 0.0958,
@@ -33,7 +36,8 @@
     int dutyR;
     float distLeft;
     float distRight;
-    float distForward;
+    float distForwardL;
+    float distForwardR;
     Serial &pc;
     PwmOut servoL;
     PwmOut servoR;
@@ -44,7 +48,8 @@
     float period;
     bool obstacle;
     bool huntFlag;
-    bool avoidFlag;
+    bool avoidFlag; 
+    bool objectFound;
 
     Ticker scanPit; // periodic interrupt timer