Diff: scanner.h

Revision:

0:999bb8fcd0b2

Child:

1:2714d60284ef

Child:

2:b281034eda86

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/scanner.h	Wed Feb 17 16:47:55 2016 +0000
@@ -0,0 +1,33 @@
+#ifndef SCANNER_H
+#define SCANNER_H
+#include "mbed.h"
+#include "Gp2x.h"
+#include "VL6180x.h"
+
+class Scanner
+{
+public: 
+    Scanner(Serial &pc1, PinName _servoL, PinName _servoR, 
+    VL6180x &_shortRangeL, VL6180x &_shortRangeR, Gp2x &_longRangeL,
+    Gp2x &_longRangeR, float _period);
+    int hunt();
+    int avoid();
+    int localize();  
+    
+private:
+    Serial &pc;
+    PwmOut servoL;
+    PwmOut servoR;
+    VL6180x &shortRangeL;
+    VL6180x &shortRangeR;
+    Gp2x &longRangeL;
+    Gp2x &longRangeR;
+    float period;
+    
+    Ticker pit; // periodic interrupt timer
+    
+    void scan();    
+    
+};
+
+#endif // SCANNER_H
\ No newline at end of file