Diff: Alex.cpp

Revision:

0:8474cbec06bd

Child:

1:c5edd3b18b79

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Alex.cpp	Sun Dec 12 14:15:07 2010 +0000
@@ -0,0 +1,55 @@
+#include "Alex.h"
+Serial pc(USBTX, USBRX); // tx, rx => serialize mBed with the pc
+PwmOut Led(LED1);
+
+Alex::Alex(SRF05 s, Servo e, Servo m, Servo l, Servo r):S(s), E(e), M(m), L(l), R(r)
+{
+}
+Alex::~Alex()
+{
+}
+void Alex::TestHead()
+{
+    Led=1;
+    wait(0.02);
+    Led=0;
+}
+int Alex::Testpresence()
+{
+    if((S.read()==0)||(S.read()>=500)){return 0;}//if presence is too close, return 0
+    if(S.read()>=40){return 1;}//if presence is too far, return 1
+    if((S.read()>=0)&&(S.read()<=40)){return 2;}//if presence is between O and 40cm, return 2
+    return 0;
+}
+void Alex::Move_eyes(int valuee)
+{
+    for(int i=0; i<valuee; i++)
+    {
+        E=i;
+        wait(0.1);
+    }
+}
+void Alex::Move_mouth(int valuem)
+{
+    for(int i=0; i<valuem; i++)
+    {
+        M=i;
+        wait(0.1);
+    }
+}
+void Alex::Move_leaning(int valuel)
+{
+    for(int i=0; i<valuel; i++)
+    {
+        L=i;
+        wait(0.1);
+    }
+}
+void Alex::Move_rotation(int valuer)
+{
+    for(int i=0; i<valuer; i++)
+    {
+        R=i;
+        wait(0.1);
+    }
+}
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