Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

robot.h@44:4b933e7409e7, 2014-04-01 (annotated)

Committer:
sswatek
Date:
Tue Apr 01 02:16:35 2014 +0000
Revision:
44:4b933e7409e7
Parent:
43:f7ef0f5f980c
Child:
48:519deb1d4dff
Added slow mode, procedure for grabbing, and procedure for aligning to rig

Who changed what in which revision?

UserRevisionLine numberNew contents of line
soonerbot 1:c28fac16a109 1 /*
soonerbot 1:c28fac16a109 2 * File: lowPlan.h
soonerbot 1:c28fac16a109 3 * Author: Shawn Swatek
soonerbot 1:c28fac16a109 4 * Originated: Spring 2013
soonerbot 1:c28fac16a109 5 * Revised: 3/29/13
soonerbot 1:c28fac16a109 6 */
soonerbot 1:c28fac16a109 7
soonerbot 1:c28fac16a109 8 #ifndef __ROBOT__
soonerbot 1:c28fac16a109 9 #define __ROBOT__
soonerbot 1:c28fac16a109 10
soonerbot 1:c28fac16a109 11 #include "mbed.h"
soonerbot 1:c28fac16a109 12 #include "dbgprint.h"
soonerbot 1:c28fac16a109 13 #include "gyroReader.h"
soonerbot 1:c28fac16a109 14 #include "remoteEnc.h"
soonerbot 1:c28fac16a109 15 #include "remoteMotor.h"
soonerbot 9:aff48e331147 16 #include "absMotors.h"
soonerbot 14:a30aa3b29a2e 17 #include "hcsr04.h"
soonerbot 15:b10859606504 18 #include "servo.h"
sswatek 17:e247d58d9f42 19 #include "droidBT.h"
sswatek 43:f7ef0f5f980c 20 #include "absMotorControl.h"
soonerbot 1:c28fac16a109 21
soonerbot 1:c28fac16a109 22 class robot{
sswatek 26:ade7c813538f 23 private:
sswatek 26:ade7c813538f 24 Timer stepTimer;
sswatek 27:688409727452 25 int cameraMode;
soonerbot 1:c28fac16a109 26 public:
soonerbot 1:c28fac16a109 27 SPI spi;
soonerbot 1:c28fac16a109 28 remoteEnc bigenc;
soonerbot 3:a223b0bf8256 29 gyroReader gyro;
soonerbot 15:b10859606504 30 //remoteMotor right;
soonerbot 15:b10859606504 31 //remoteMotor left;
soonerbot 9:aff48e331147 32 absMotors motors;
soonerbot 14:a30aa3b29a2e 33 hcsr04 pingLeft;
sswatek 37:38a4ad49343e 34 hcsr04 pingRight;
sswatek 17:e247d58d9f42 35 droidBT BTLink;
sswatek 43:f7ef0f5f980c 36 absMotorControl cont;
soonerbot 1:c28fac16a109 37 robot();
soonerbot 1:c28fac16a109 38 double x,y,rot;
sswatek 26:ade7c813538f 39 int circleX,circleY,rectX,rectY,rectRot,triX,triY,triRot;
sswatek 27:688409727452 40 int flameLocation;
soonerbot 10:926f142f16a3 41 int absDriveForward(double angle, int dist);
soonerbot 13:c2d14bf733a5 42 int smoothMove(int distance, int rotate, int maxSpeed);
soonerbot 4:adc885f4ab75 43 int driveForward(double angle, int dist);
soonerbot 4:adc885f4ab75 44 void addforward(double dist);
soonerbot 1:c28fac16a109 45 double turn(double power, double degrees);
soonerbot 1:c28fac16a109 46 int moveTo(double xInches, double yInches);
soonerbot 1:c28fac16a109 47 int turntowards(double xInches, double yInches);
sswatek 27:688409727452 48 int switchCameraMode(int mode);
sswatek 27:688409727452 49 int shapeCheck();
sswatek 26:ade7c813538f 50 int pollForShapes();
sswatek 27:688409727452 51 int rigCheck();
sswatek 27:688409727452 52 int pollForRigs();
sswatek 44:4b933e7409e7 53 int nearRigCheck();
sswatek 44:4b933e7409e7 54 int alignWithRig();
soonerbot 1:c28fac16a109 55 };
soonerbot 1:c28fac16a109 56
soonerbot 1:c28fac16a109 57 #endif