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@26:ade7c813538f, 2014-03-14 (annotated)

Committer:
sswatek
Date:
Fri Mar 14 00:38:51 2014 +0000
Revision:
26:ade7c813538f
Parent:
17:e247d58d9f42
Child:
27:688409727452
removed old control system variables and added prototype shape polling function

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"
soonerbot 1:c28fac16a109 20
soonerbot 1:c28fac16a109 21 class robot{
sswatek 26:ade7c813538f 22 private:
sswatek 26:ade7c813538f 23 Timer stepTimer;
soonerbot 1:c28fac16a109 24 public:
soonerbot 1:c28fac16a109 25 SPI spi;
soonerbot 1:c28fac16a109 26 remoteEnc bigenc;
soonerbot 3:a223b0bf8256 27 gyroReader gyro;
soonerbot 15:b10859606504 28 //remoteMotor right;
soonerbot 15:b10859606504 29 //remoteMotor left;
soonerbot 9:aff48e331147 30 absMotors motors;
soonerbot 14:a30aa3b29a2e 31 hcsr04 pingLeft;
sswatek 17:e247d58d9f42 32 droidBT BTLink;
soonerbot 1:c28fac16a109 33 robot();
soonerbot 1:c28fac16a109 34 double x,y,rot;
sswatek 26:ade7c813538f 35 int circleX,circleY,rectX,rectY,rectRot,triX,triY,triRot;
soonerbot 10:926f142f16a3 36 int absDriveForward(double angle, int dist);
soonerbot 13:c2d14bf733a5 37 int smoothMove(int distance, int rotate, int maxSpeed);
soonerbot 4:adc885f4ab75 38 int driveForward(double angle, int dist);
soonerbot 4:adc885f4ab75 39 void addforward(double dist);
soonerbot 1:c28fac16a109 40 double turn(double power, double degrees);
soonerbot 1:c28fac16a109 41 int moveTo(double xInches, double yInches);
soonerbot 1:c28fac16a109 42 int turntowards(double xInches, double yInches);
sswatek 26:ade7c813538f 43 int pollForShapes();
soonerbot 1:c28fac16a109 44 };
soonerbot 1:c28fac16a109 45
soonerbot 1:c28fac16a109 46 #endif