Raj Patel
/
RoboticMappingControl
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Dependencies: mbed mbed-rtos Motor LSM9DS1_Library_cal X_NUCLEO_53L0A1
Diff: RobotController.h
- Revision:
- 3:1dce1ba5b8bd
- Child:
- 5:77c6821ae418
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/RobotController.h Fri Apr 12 23:23:18 2019 +0000
@@ -0,0 +1,33 @@
+#ifndef ROBOT_CONTROLLER_H
+#define ROBOT_CONTROLLER_H
+
+#include "Motor.h"
+#include "HALLFX_ENCODER.h"
+#include "LSM9DS1.h"
+
+/**
+ * Robot control class.
+ */
+class RobotController {
+ public:
+ /**
+ * Detect obstacles in 360-degree field of view around the robot.
+ * @return angle-distance pairs of obstacles
+ */
+ float* obstacleDetection();
+
+ /**
+ * Follow trajectory set by user in C# GUI.
+ * @param trajectory angle-distance vectors
+ */
+ void followTrajectory(float* trajectory);
+
+ /**
+ * Return to position before following trajectory.
+ * @param trajectory angle-distance vectors
+ */
+ void toOrigin(float* trajectory);
+ // TODO delete trajectory
+};
+
+#endif /* ROBOT_CONTROLLER_H */
\ No newline at end of file
