Diff: Robot.h

Revision:

0:637fe5c74b2d

Child:

1:8fa2ee8c005e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Robot.h	Thu Dec 16 09:25:37 2010 +0000
@@ -0,0 +1,84 @@
+#ifndef __ROBOT__H
+#define __ROBOT__H
+#include "CMPS03.h"
+#include "Serializer.h"
+#include "PID.h"
+#include "SRF05.h"
+#include "Servo.h"
+
+
+#define MAX_ROBOT_SPEED 51
+#define PID_RATE 0.05
+#define SERVO_RATE .1
+
+
+
+class Robot {
+public:
+    Robot();
+    ~Robot();
+    int SetDediredHeading(int deg);
+    int GetDesiredHeading();
+    int GetActualHeading();
+
+    void SetSpeed(int spd);
+    void SetSpeed(int lSpd, int rSpd);
+    void SetLeftSpeed(int spd);
+    void SetRightSpeed(int spd);
+
+    void PivetLeft(int deg);
+    void PivetRight(int deg);
+    void Pivet(int deg);
+    void DiGo(int inches,int inPsec);
+
+    float GetRange(int position);
+
+
+
+//protected:
+
+//private:
+    volatile int desiredHeading;
+    volatile int actualHeading;
+    volatile int deltaHeading;
+    volatile int prevDeltaHeading;
+    volatile int desiredSpeed;
+    volatile int servoPosition;// [0,10]
+    volatile int servoDirection;
+    volatile int isFullScan;
+
+    volatile float range0;
+    volatile float range1;
+    volatile float range2;
+    volatile float range3;
+    volatile float range4;
+    volatile float range5;
+    volatile float range6;
+    volatile float range7;
+    volatile float range8;
+    volatile float range9;
+    volatile float range10;
+
+    void        TickTick();
+    void        TackTack();
+    void        FlashLEDs();
+
+    DigitalOut  *led1;
+    DigitalOut  *led2;
+    DigitalOut  *led3;
+    PID         *pid;
+    Ticker      ticker1;
+    Ticker      ticker2;
+    Ticker      ticker3;
+
+    Serializer  base;
+    CMPS03      *compass;
+//    SRF05       *sensor;
+    Servo       *servo;
+
+    float       *range;
+    float       *returnRange;
+    int         readingNumber;
+
+};
+#endif
\ No newline at end of file