Diff: RobotController.h

Revision:

17:e1a5d25218de

Parent:

14:0e6b26c1a7c5

Child:

18:7ed985584ec7

--- a/RobotController.h	Thu Apr 25 05:00:18 2019 +0000
+++ b/RobotController.h	Thu Apr 25 05:56:18 2019 +0000
@@ -5,10 +5,8 @@
 #include "Motor.h"
 #include "Encoder.h"
 #include "LSM9DS1.h"
-#include "XNucleo53L0A1.h"
 
 #define COUNTPERIN 75.029 ///< Encoder counts 192 every 65 mm of wheel rotation
-#define COUNTPERDEG 1.21 ///< Encoder counts 2.42 every 1 deg of body rotation
 #define ROTERRI 0.730 ///< 90 commanded rotation overshoot compensation
 #define ROTERRII 0.770 ///< 180 commanded rotation overshoot compensation
 #define ROTERRIII 0.810 ///< 270, 360 commanded rotation overshoot compensation
@@ -29,14 +27,13 @@
          * @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 lidarShdn mbed pin commanding lidar reset
-         * @param sda mbed pin for I2C data line
-         * @param scl mbed pin for I2C clock line
+         * @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 lidarShdn, PinName sda, PinName scl);
+            PinName imuSda, PinName imuScl);
 
         /**
          * Robot Controller destructor.
@@ -58,10 +55,6 @@
         Motor rightWheel;
         Encoder _leftEncoder;
         Encoder _rightEncoder;
-        DevI2C* lidarDevice;
-        XNucleo53L0A1* lidarBoard;
-        DigitalOut _lidarShdn;
-        uint32_t lidarDistance;
         LSM9DS1 imu;
         Timer t;
         float yaw;