Diff: Robo.h

Revision:

0:bb5c5d6800a3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robo.h	Sun Oct 27 09:16:19 2013 +0000
@@ -0,0 +1,50 @@
+#ifndef __ROBO_H
+#define __ROBO_H
+
+#include "Motor.h"
+#include "mbed.h"
+#include "TextLCD.h"
+
+// intial lives each robot has
+const int max_lives = 5;
+
+/* for storing the motors' state, e.g. the robot is moving forward
+ * and it receives a request to go left. After it has turned left
+ * it must keep moving forward. So we use this structure to backup and restore
+ * motors' state.
+ */
+struct rState {
+    mState lm; // pin states of the left motor
+    mState rm; // pin states of the right motor
+};
+
+/* main Robo Class definition 
+ */
+class Robo {
+    int lives;
+    Motor lmotor;
+    Motor rmotor;
+    TextLCD lcd;
+ public :
+    Robo(PinName l_en, PinName l_fwd, PinName l_rev, // left motor's enable, forward, and reverse
+         PinName r_en, PinName r_fwd, PinName r_rev, // right motor's enable, forward and reverse
+         PinName rs, PinName en, PinName d4, PinName d5, // pins for LCD rs, en , d4-d7
+         PinName d6, PinName d7);
+    void init();    // for initialization of the robot
+    void printlcd(char *); // print a message on the robot's lcd
+    void updateLivesLCD(); // update the lives count
+    void goLeft();  
+    void moveRight();
+    void stop();
+    void goAhead();
+    void moveBack();
+    int getLives(); // get the number of lives left
+    void decLives(); // decrease the number of lives
+    rState getState(); // get the state of the robot
+    void setState(rState); // set the state of the robot
+        
+};
+
+
+
+#endif
\ No newline at end of file