Diff: RobotController.h

Revision:

5:77c6821ae418

Parent:

3:1dce1ba5b8bd

Child:

8:bfa4bf23522c

--- a/RobotController.h	Fri Apr 12 23:28:04 2019 +0000
+++ b/RobotController.h	Sun Apr 14 03:23:36 2019 +0000
@@ -1,16 +1,32 @@
 #ifndef ROBOT_CONTROLLER_H
 #define ROBOT_CONTROLLER_H
 
+#include "mbed.h"
 #include "Motor.h"
 #include "HALLFX_ENCODER.h"
 #include "LSM9DS1.h"
 
 /**
- * Robot control class.
+ * Robot Controller class.
  */
 class RobotController {
     public:
         /**
+         * 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
+         * @param rightWheelPwm mbed pin transmitting speed to right motor driver
+         * @param rightWheelFwd mbed pin transmitting forward direction to right motor driver
+         * @param rightWheelRev mbed pin transmitting reverse direction to right motor driver
+         * @param leftEncoderIn mbed pin receiving rotation count from left encoder
+         * @param rightEncoderIn mbed pin receiving rotation count from right encoder
+         */
+        RobotController(PinName leftWheelPwm, PinName leftWheelFwd,
+            PinName leftWheelRev, PinName rightWheelPwm, PinName rightWheelFwd,
+            PinName rightWheelRev, PinName leftEncoderIn, PinName rightEncoderIn);
+    
+        /**
          * Detect obstacles in 360-degree field of view around the robot.
          * @return angle-distance pairs of obstacles
          */
@@ -28,6 +44,12 @@
          */
         void toOrigin(float* trajectory);
         // TODO delete trajectory
+
+    private:
+        Motor leftWheel;
+        Motor rightWheel;
+        HALLFX_ENCODER leftEncoder;
+        HALLFX_ENCODER rightEncoder;
 };
 
 #endif /* ROBOT_CONTROLLER_H */
\ No newline at end of file