Diff: Controlor.h

Revision:

23:0927e605af4b

Parent:

22:bf5aa20b9df0

--- a/Controlor.h	Fri Sep 06 08:36:21 2013 +0000
+++ b/Controlor.h	Fri Nov 22 00:30:42 2013 +0000
@@ -3,14 +3,17 @@
 
 #include "mbed.h"
 #include <string>
+#include <fstream>
 
 #include "Motion.h"
 #include "OfflineMotion.h"
 #include "OnlineMotion.h"
+#include "CPG.h"
 
 #include "Console.h"
 //#include "PWM.h"
 #include "Adafruit_PWMServoDriver.h"
+#include "RS300.h"
 
 #include "CSV.h"
 #include "readMotion.h"
@@ -25,6 +28,7 @@
     void control();
     
   private:
+    void home();
     void read(const string& filename, uint16_t* data);
     void set(uint16_t* data);
     bool checkid(int id);
@@ -41,7 +45,10 @@
     
     OfflineMotion* offline;
     OnlineMotion* online;
+    CPG* cpg;
     Motion* motion;
+    //std::ofstream log;
+    int mode;
     
   private:
     bool playing;
@@ -49,6 +56,7 @@
     Console* comu;
     //PWM* pwm;
     Adafruit_PWMServoDriver* pwm;
+    RS300* rs300;
 };
 
-#endif
\ No newline at end of file
+#endif