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Fork of IEEE_14_Freescale by
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?
| User | Revision | Line number | New 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 |
