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

Committer:
soonerbot
Date:
2014-03-07
Revision:
14:a30aa3b29a2e
Parent:
13:c2d14bf733a5
Child:
15:b10859606504

File content as of revision 14:a30aa3b29a2e:

/*
*   File:       lowPlan.h
*   Author:     Shawn Swatek
*   Originated: Spring 2013
*   Revised:    3/29/13
*/

#ifndef __ROBOT__
#define __ROBOT__

#include "mbed.h"
#include "dbgprint.h"
#include "gyroReader.h"
#include "remoteEnc.h"
#include "remoteMotor.h"
#include "absMotors.h"
#include "hcsr04.h"

class robot{
public:
    SPI spi;
    remoteEnc bigenc;
    gyroReader gyro;
    remoteMotor right;
    remoteMotor left;
    absMotors motors;
    hcsr04 pingLeft;
    robot();
    double x,y,rot;
    double pfac,ifac,dfac;
    double angfac;
    int absDriveForward(double angle, int dist);
    int smoothMove(int distance, int rotate, int maxSpeed);
    int driveForward(double angle, int dist);
    void addforward(double dist);
    double turn(double power, double degrees);
    int moveTo(double xInches, double yInches);
    int turntowards(double xInches, double yInches);
};

#endif