Diff: RobotController.h

Revision:

11:531208aca075

Parent:

8:bfa4bf23522c

Child:

14:0e6b26c1a7c5

--- a/RobotController.h	Mon Apr 22 23:55:45 2019 +0000
+++ b/RobotController.h	Tue Apr 23 19:56:39 2019 +0000
@@ -3,7 +3,8 @@
 
 #include "globals.h"
 #include "Motor.h"
-#include "HALLFX_ENCODER.h"
+#include "Encoder.h"
+#include "LSM9DS1.h"
 #include "XNucleo53L0A1.h"
 
 #define COUNTPERIN 75.029 ///< Encoder counts 192 every 65 mm of wheel rotation
@@ -15,7 +16,7 @@
 class RobotController {
     public:
         /**
-         * Robot Controller Constructor.
+         * Robot Controller constructor.
          * @param leftWheelPwm mbed pin transmitting speed to left motor driver
          * @param leftWheelFwd mbed pin transmitting forward direction to left motor driver
          * @param leftWheelRev mbed pin transmitting reverse direction to left motor driver
@@ -24,11 +25,19 @@
          * @param rightWheelRev mbed pin transmitting reverse direction to right motor driver
          * @param leftEncoder mbed pin receiving rotation count from left encoder
          * @param rightEncoder mbed pin receiving rotation count from right encoder
+         * @param imuSda mbed pin for imu I2C data line
+         * @param imuScl mbed pin for imu I2C clock line
          */
         RobotController(PinName leftWheelPwm, PinName leftWheelFwd,
             PinName leftWheelRev, PinName rightWheelPwm, PinName rightWheelFwd,
-            PinName rightWheelRev, PinName leftEncoder, PinName rightEncoder);
-    
+            PinName rightWheelRev, PinName leftEncoder, PinName rightEncoder,
+            PinName imuSda, PinName imuScl);
+
+        /**
+         * Robot Controller destructor.
+         */
+         ~RobotController();
+
         /**
          * Detect obstacles in 360-degree field of view around the robot.
          */
@@ -42,8 +51,14 @@
     private:
         Motor leftWheel;
         Motor rightWheel;
-        HALLFX_ENCODER leftEncoder;
-        HALLFX_ENCODER rightEncoder;
+        Encoder leftEncoder;
+        Encoder rightEncoder;
+        LSM9DS1 imu;
+        Timer t;
+        float w1;
+        float w2;
+        float t1;
+        float t2;
 };
 
 #endif /* ROBOT_CONTROLLER_H */
\ No newline at end of file