IRBehaviorController.h

00001 #ifndef __IRBEHAVIORCONTROLLER_H__
00002 #define __IRBEHAVIORCONTROLLER_H__
00003 
00004 #include "mbed.h"
00005 #include "IRObjDetector.h"
00006 #include "PID.h"
00007 
00008 class IRBehaviorController
00009 {
00010 public:
00011     IRBehaviorController(PID *pid) : pid(pid)
00012     {
00013         debug               = NULL;
00014         activationThreshold = 0.0f;
00015         brightness          = 0.0f;
00016         output              = 0.0f;        
00017     };
00018     
00019     IRBehaviorController(PID * pid, Serial * debug) : debug(debug), ird(debug), pid(pid)
00020     //IRBehaviorController(PID * pid, Serial * debug) : debug(debug), pid(pid) 
00021     {
00022         activationThreshold = 0.0f;
00023         brightness          = 0.0f;
00024         output              = 0.0f;
00025     };
00026     
00027     void setAvoidanceBehavior(float threshold);
00028     void setSeekingBehavior(float threshold);
00029     
00030     void setActiveThreshold(float threshold);   // Brightness level at which behavior is active.
00031     
00032     void runAvoidance(void);                    // Execute avoidance behavior
00033     void runSeeking(void);                      // Execute seeking behavior
00034     
00035     float getPower(void);                       // Returns the power value needed to execute the behavior.
00036     float getBrightness(void);
00037     float getCenteroid(void);
00038     
00039     void  dumpDebug(Serial *debug);
00040     
00041 private:
00042 
00043     void            scanIR(void);
00044 
00045     Serial          *debug;
00046     
00047     IRObjDetector   ird;
00048     PID             *pid;
00049     
00050     float           activationThreshold;             // Brightness threshold at which behavior is active.
00051     float           brightness;
00052     float           centeroid;
00053       
00054     float           output;
00055 };
00056 #endif