Diff: Navigate_Pololu.h

Revision:

2:1255feea1c59

Parent:

1:b6c1de65e591

Child:

3:c5dff598fea4

--- a/Navigate_Pololu.h	Sun Jan 31 16:08:34 2016 +0000
+++ b/Navigate_Pololu.h	Sun Jan 31 21:02:13 2016 +0000
@@ -1,18 +1,16 @@
 #include "mbed.h"
+#include "m3pi.h"
 
 class Navigate_Pololu{
     
 private:
-const float PI = 3.14159f;
+const float PI = 3.14159f; //declare constants for pi and 2pi
 const float TWO_PI = PI * 2.0f;
 float distancePerCount;
 float radiansPerCount;
 float X;
 float Y;
 float heading;
-//const float wheelDiameter = 3.2f;
-//const float trackWidth = 8.25f;
-//const int countsPerRevolution = 3;
 int previousLeftCounts;
 int previousRightCounts;
 float deltaDistance;
@@ -28,7 +26,10 @@
 
 public:
 
+m3pi robot; //create robot object, make it public so it can be accessed by main program
+
 Navigate_Pololu(PinName leftIn, PinName rightIn, int countsPerRevolution, float wheelDiameter, float trackWidth,PinName robotTx, PinName robotRx);
+//constuctor
 
 void leftWheelInterrupt();
 //IRQ for left wheel sensor
@@ -47,6 +48,6 @@
 int getHeading();
 //returns heading
 
-void calibratePos(PinName robotTx, PinName robotRx);
+void calibratePos();
 //aligns wheels
 };
\ No newline at end of file