Diff: drive.h

Revision:

6:59f239c83de4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drive.h	Sun Mar 20 20:32:52 2016 +0000
@@ -0,0 +1,29 @@
+//
+//  drive.h
+//  MOTORDRIVER
+//
+//  Created by Antoine Laurens on 15.03.16.
+//  Copyright (c) 2016 Antoine Laurens. All rights reserved.
+//
+
+#ifndef __MOTORDRIVER__drive__
+#define __MOTORDRIVER__drive__
+
+#include <stdio.h>
+#include "main.h"
+#include "LOCALIZE.h"
+void down(LOCALIZE_xya *xya,int stopPoint,float *pwmDuty1,float *pwmDuty2);                     //when the robot goes downwards
+
+void driveStraightD(LOCALIZE_xya *xya,int stopPoint,bool dir,float *pwmDuty1,float *pwmDuty2);     //when the robot drives straight (forward or backwards)
+void driveStraightS(LOCALIZE_xya *xya,int stopPoint,bool dir,float *pwmDuty1,float *pwmDuty2);     //D down S Side
+
+void rotate(int stopAngle,int initAngle,int robPosx,float *pwmDuty1,float *pwmDuty2); //when the robot rotates use *xya instead of init angle and robPosx
+
+void crossSep();
+
+void feedbackControl(LOCALIZE_xya *xya,int line,int angle,float *pwmDuty1,float *pwmDuty2);
+
+
+    
+
+#endif /* defined(__MOTORDRIVER__drive__) */