Sam Leighton / Navigate_Pololu

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

Diff: Navigate_Pololu.h

Revision:
1:b6c1de65e591
Parent:
0:33c364521d16
Child:
2:1255feea1c59
diff -r 33c364521d16 -r b6c1de65e591 Navigate_Pololu.h
--- a/Navigate_Pololu.h	Sat Jan 30 20:26:14 2016 +0000
+++ b/Navigate_Pololu.h	Sun Jan 31 16:08:34 2016 +0000
@@ -28,7 +28,7 @@
 
 public:
 
-Navigate_Pololu(PinName leftIn, PinName rightIn, int countsPerRevolution, float wheelDiameter, float trackWidth);
+Navigate_Pololu(PinName leftIn, PinName rightIn, int countsPerRevolution, float wheelDiameter, float trackWidth,PinName robotTx, PinName robotRx);
 
 void leftWheelInterrupt();
 //IRQ for left wheel sensor
@@ -38,12 +38,15 @@
 
 void UpdatePosition();
 //Updates position based on wheel counts
-uint8_t* getX();
+int getX();
 //returns x coordinate
 
-uint8_t* getY();
+int getY();
 //returns y coordinate
 
-uint8_t* getHeading();
+int getHeading();
 //returns heading
+
+void calibratePos(PinName robotTx, PinName robotRx);
+//aligns wheels
 };
\ No newline at end of file