Diff: Motion.h

Revision:

12:75d0291a9785

Parent:

7:22392ed60534

Child:

13:845e49f20426

--- a/Motion.h	Mon Apr 30 18:27:23 2018 +0000
+++ b/Motion.h	Wed May 02 14:58:48 2018 +0000
@@ -28,44 +28,54 @@
         void    stop();
         void    rotate180();
         void    control();
-        void    runTask(int task);
+        void    runTask(int path[], int task, bool reverse);
         int     finish();
+        void    accel();
 
     private:
     
-        static const float LEFT_MID_VAL;
-        static const float RIGHT_MID_VAL;
-        static const float KP;
-        static const float KD;
-        static const int MOVE_DIST;
-        static const float MOVE_SPEED;
+        static const float  LEFT_MID_VAL;
+        static const float  RIGHT_MID_VAL;
+        static const float  KP;
+        static const float  KD;
+        static const int    MOVE_DIST;
+        static const float  MOVE_SPEED;
+        static const float  ROTATE_SPEED;
+        static const float  ACCEL_SCALE;
         
-        Controller& controller;
-        EncoderCounter& counterLeft;
-        EncoderCounter& counterRight;
-        IRSensor& irSensorL;
-        IRSensor& irSensorC;
-        IRSensor& irSensorR;
-        AnalogIn& lineSensor;
-        DigitalOut& enableMotorDriver;
+        Controller&         controller;
+        EncoderCounter&     counterLeft;
+        EncoderCounter&     counterRight;
+        IRSensor&           irSensorL;
+        IRSensor&           irSensorC;
+        IRSensor&           irSensorR;
+        AnalogIn&           lineSensor;
+        DigitalOut&         enableMotorDriver;
         
-        float distanceL;
-        float distanceC;
-        float distanceR;
-        int countsL;
-        int countsR;
-        int countsLOld;
-        int countsROld;
-        float speedLeft;
-        float speedRight;
-        float errorP;
-        float errorD;
-        float oldErrorP;
-        float totalError;
-        int waitStop;
-        int task;
-        int line;
-        float countsOld;
+        float               distanceL;
+        float               distanceC;
+        float               distanceR;
+        int                 countsL;
+        int                 countsR;
+        int                 countsLOld;
+        int                 countsROld;
+        float               speedLeft;
+        float               speedRight;
+        float               errorP;
+        float               errorD;
+        float               oldErrorP;
+        float               totalError;
+        int                 waitStop;
+        int                 path[];
+        int                 task;
+        bool                reverse;
+        bool                acceleration;
+        bool                deceleration;
+        int                 line;
+        float               countsOld;
+        float               avgSpeed;
+        float               avgCounts;
+        float               actSpeed;
     };
     
 #endif /* MOTION_H_ */
\ No newline at end of file