Sam Leighton / Navigate_Pololu

Used to track the robot's position and initialise an m3pi object to drive the robot

Navigate_Pololu.h@3:c5dff598fea4, 2016-03-04 (annotated)

Committer:
sleighton
Date:
Fri Mar 04 18:46:26 2016 +0000
Revision:
3:c5dff598fea4
Parent:
2:1255feea1c59 
Before Tidy up

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sleighton 0:33c364521d16 1 #include "mbed.h"
sleighton 2:1255feea1c59 2 #include "m3pi.h"
sleighton 0:33c364521d16 3
sleighton 0:33c364521d16 4 class Navigate_Pololu{
sleighton 0:33c364521d16 5
sleighton 0:33c364521d16 6 private:
sleighton 2:1255feea1c59 7 const float PI = 3.14159f; //declare constants for pi and 2pi
sleighton 0:33c364521d16 8 const float TWO_PI = PI * 2.0f;
sleighton 0:33c364521d16 9 float distancePerCount;
sleighton 0:33c364521d16 10 float radiansPerCount;
sleighton 0:33c364521d16 11 float X;
sleighton 0:33c364521d16 12 float Y;
sleighton 0:33c364521d16 13 float heading;
sleighton 0:33c364521d16 14 int previousLeftCounts;
sleighton 0:33c364521d16 15 int previousRightCounts;
sleighton 0:33c364521d16 16 float deltaDistance;
sleighton 0:33c364521d16 17 float deltaX;
sleighton 0:33c364521d16 18 float deltaY;
sleighton 0:33c364521d16 19 int leftCounts;
sleighton 0:33c364521d16 20 int rightCounts;
sleighton 0:33c364521d16 21 int deltaLeft;
sleighton 0:33c364521d16 22 int deltaRight;
sleighton 0:33c364521d16 23 float deltaHeading;
sleighton 0:33c364521d16 24 InterruptIn leftOpto;
sleighton 0:33c364521d16 25 InterruptIn rightOpto;
sleighton 0:33c364521d16 26
sleighton 0:33c364521d16 27 public:
sleighton 0:33c364521d16 28
sleighton 2:1255feea1c59 29 m3pi robot; //create robot object, make it public so it can be accessed by main program
sleighton 2:1255feea1c59 30
sleighton 1:b6c1de65e591 31 Navigate_Pololu(PinName leftIn, PinName rightIn, int countsPerRevolution, float wheelDiameter, float trackWidth,PinName robotTx, PinName robotRx);
sleighton 2:1255feea1c59 32 //constuctor
sleighton 0:33c364521d16 33
sleighton 0:33c364521d16 34 void leftWheelInterrupt();
sleighton 0:33c364521d16 35 //IRQ for left wheel sensor
sleighton 0:33c364521d16 36
sleighton 0:33c364521d16 37 void rightWheelInterrupt();
sleighton 0:33c364521d16 38 //IRQ for right wheel sensor
sleighton 0:33c364521d16 39
sleighton 0:33c364521d16 40 void UpdatePosition();
sleighton 0:33c364521d16 41 //Updates position based on wheel counts
sleighton 1:b6c1de65e591 42 int getX();
sleighton 0:33c364521d16 43 //returns x coordinate
sleighton 0:33c364521d16 44
sleighton 1:b6c1de65e591 45 int getY();
sleighton 0:33c364521d16 46 //returns y coordinate
sleighton 0:33c364521d16 47
sleighton 1:b6c1de65e591 48 int getHeading();
sleighton 0:33c364521d16 49 //returns heading
sleighton 1:b6c1de65e591 50
sleighton 2:1255feea1c59 51 void calibratePos();
sleighton 1:b6c1de65e591 52 //aligns wheels
sleighton 3:c5dff598fea4 53
sleighton 3:c5dff598fea4 54 void resetCoordinates();
sleighton 3:c5dff598fea4 55 //resets X and Y coordinates
sleighton 0:33c364521d16 56 };