Diff: Robot.h

Revision:

4:1defb279922a

Parent:

1:dc87724abce8

diff -r 0a718d139ed1 -r 1defb279922a Robot.h
--- a/Robot.h	Wed Apr 24 16:00:07 2019 +0000
+++ b/Robot.h	Tue May 11 18:10:22 2021 +0000
@@ -3,10 +3,23 @@
 #define ROBOT_H_
 
 #include "mbed.h"
+#include <cstdint>
+
+extern const int16_t COUNTS_PER_ROTATION;
+extern const int16_t WHEEL_DIAMETER;
+extern const int16_t WHEEL_DISTANCE;
+extern const float MAX_LIN_VEL;
+extern const float MIN_LIN_VEL;
+extern const float MIN_SET_SPEEDS;
+extern const float MAX_SET_SPEEDS;
 
 extern int16_t countsLeft;
 extern int16_t countsRight;
 
+extern float poseX;
+extern float poseY;
+extern float poseTheta;
+
 /** \brief Sets the speed for both motors.
  *
  * \param leftSpeed A number from -300 to 300 representing the speed and
@@ -46,4 +59,10 @@
  *  not have to worry about the count overflowing. */
 void getCountsAndReset();
 
+void updatePose();
+
+void robotVel2wheelVel(float v, float w, float *wheelSpeeds);
+
+float mapSpeeds(float value);
+
 #endif /* ROBOT_H_ */
\ No newline at end of file