Robo.h

00001 #ifndef __ROBO_H
00002 #define __ROBO_H
00003 
00004 #include "Motor.h"
00005 #include "mbed.h"
00006 #include "TextLCD.h"
00007 
00008 // intial lives each robot has
00009 const int max_lives = 5;
00010 
00011 /* for storing the motors' state, e.g. the robot is moving forward
00012  * and it receives a request to go left. After it has turned left
00013  * it must keep moving forward. So we use this structure to backup and restore
00014  * motors' state.
00015  */
00016 struct rState {
00017     mState lm; // pin states of the left motor
00018     mState rm; // pin states of the right motor
00019 };
00020 
00021 /* main Robo Class definition 
00022  */
00023 class Robo {
00024     int lives;
00025     Motor lmotor;
00026     Motor rmotor;
00027     TextLCD lcd;
00028  public :
00029     Robo(PinName l_en, PinName l_fwd, PinName l_rev, // left motor's enable, forward, and reverse
00030          PinName r_en, PinName r_fwd, PinName r_rev, // right motor's enable, forward and reverse
00031          PinName rs, PinName en, PinName d4, PinName d5, // pins for LCD rs, en , d4-d7
00032          PinName d6, PinName d7);
00033     void init();    // for initialization of the robot
00034     void printlcd(char *); // print a message on the robot's lcd
00035     void updateLivesLCD(); // update the lives count
00036     void goLeft();  
00037     void moveRight();
00038     void stop();
00039     void goAhead();
00040     void moveBack();
00041     int getLives(); // get the number of lives left
00042     void decLives(); // decrease the number of lives
00043     rState getState(); // get the state of the robot
00044     void setState(rState); // set the state of the robot
00045         
00046 };
00047 
00048 
00049 
00050 #endif