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@9:aff48e331147, 2014-02-03 (annotated)

Committer:
soonerbot
Date:
Mon Feb 03 20:37:35 2014 +0000
Revision:
9:aff48e331147
Parent:
4:adc885f4ab75
Child:
10:926f142f16a3
First working absolute motor control "W" (moves reverse 100 counts)

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 1:c28fac16a109 17
soonerbot 1:c28fac16a109 18 class robot{
soonerbot 1:c28fac16a109 19 public:
soonerbot 1:c28fac16a109 20 SPI spi;
soonerbot 1:c28fac16a109 21 remoteEnc bigenc;
soonerbot 3:a223b0bf8256 22 gyroReader gyro;
soonerbot 1:c28fac16a109 23 remoteMotor right;
soonerbot 1:c28fac16a109 24 remoteMotor left;
soonerbot 9:aff48e331147 25 absMotors motors;
soonerbot 1:c28fac16a109 26 robot();
soonerbot 1:c28fac16a109 27 double x,y,rot;
soonerbot 4:adc885f4ab75 28 double pfac,ifac,dfac;
soonerbot 4:adc885f4ab75 29 double angfac;
soonerbot 4:adc885f4ab75 30 int driveForward(double angle, int dist);
soonerbot 4:adc885f4ab75 31 void addforward(double dist);
soonerbot 1:c28fac16a109 32 double turn(double power, double degrees);
soonerbot 1:c28fac16a109 33 int moveTo(double xInches, double yInches);
soonerbot 1:c28fac16a109 34 int turntowards(double xInches, double yInches);
soonerbot 1:c28fac16a109 35 };
soonerbot 1:c28fac16a109 36
soonerbot 1:c28fac16a109 37 #endif