Justin Jordan / scanner

Scanner code will include the following: obstacle avoidance, hunting for victims, and localization checks.

scanner.cpp@0:999bb8fcd0b2, 2016-02-17 (annotated)

Committer:
j_j205
Date:
Wed Feb 17 16:47:55 2016 +0000
Revision:
0:999bb8fcd0b2
Child:
1:2714d60284ef
Child:
2:b281034eda86
2/17/16 JJ

Who changed what in which revision?

UserRevisionLine numberNew contents of line
j_j205 0:999bb8fcd0b2 1 #include "scanner.h"
j_j205 0:999bb8fcd0b2 2 #include "mbed.h"
j_j205 0:999bb8fcd0b2 3 #include "Gp2x.h"
j_j205 0:999bb8fcd0b2 4 #include "VL6180x.h"
j_j205 0:999bb8fcd0b2 5
j_j205 0:999bb8fcd0b2 6 // FUNCTION:
j_j205 0:999bb8fcd0b2 7 // Scanner()
j_j205 0:999bb8fcd0b2 8 // IN-PARAMETERS:
j_j205 0:999bb8fcd0b2 9 //
j_j205 0:999bb8fcd0b2 10 // OUT-PARAMETERS:
j_j205 0:999bb8fcd0b2 11 //
j_j205 0:999bb8fcd0b2 12 // DESCRIPTION:
j_j205 0:999bb8fcd0b2 13 // Default constructor.
j_j205 0:999bb8fcd0b2 14 Scanner::Scanner(Serial &pc1, PinName _servoL, PinName _servoR,
j_j205 0:999bb8fcd0b2 15 VL6180x &_shortRangeL, VL6180x &_shortRangeR, Gp2x &_longRangeL,
j_j205 0:999bb8fcd0b2 16 Gp2x &_longRangeR, float _period) : pc(pc1), servoL(_servoL),
j_j205 0:999bb8fcd0b2 17 servoR(_servoR), shortRangeL(_shortRangeL),
j_j205 0:999bb8fcd0b2 18 shortRangeR(_shortRangeR), longRangeL(_longRangeL),
j_j205 0:999bb8fcd0b2 19 longRangeR(_longRangeR), period(_period)
j_j205 0:999bb8fcd0b2 20 {
j_j205 0:999bb8fcd0b2 21 pit.attach(this, &Scanner::scan, period);
j_j205 0:999bb8fcd0b2 22 servoL.period(1.0/50.0);
j_j205 0:999bb8fcd0b2 23 servoR.period(1.0/50.0);
j_j205 0:999bb8fcd0b2 24 }
j_j205 0:999bb8fcd0b2 25
j_j205 0:999bb8fcd0b2 26 // FUNCTION:
j_j205 0:999bb8fcd0b2 27 // hunt()
j_j205 0:999bb8fcd0b2 28 // IN-PARAMETERS:
j_j205 0:999bb8fcd0b2 29 //
j_j205 0:999bb8fcd0b2 30 // OUT-PARAMETERS:
j_j205 0:999bb8fcd0b2 31 //
j_j205 0:999bb8fcd0b2 32 // DESCRIPTION:
j_j205 0:999bb8fcd0b2 33 // Hunts for victim.
j_j205 0:999bb8fcd0b2 34 int Scanner::hunt()
j_j205 0:999bb8fcd0b2 35 {
j_j205 0:999bb8fcd0b2 36 return 0;
j_j205 0:999bb8fcd0b2 37 }
j_j205 0:999bb8fcd0b2 38
j_j205 0:999bb8fcd0b2 39 // FUNCTION:
j_j205 0:999bb8fcd0b2 40 // avoid()
j_j205 0:999bb8fcd0b2 41 // IN-PARAMETERS:
j_j205 0:999bb8fcd0b2 42 //
j_j205 0:999bb8fcd0b2 43 // OUT-PARAMETERS:
j_j205 0:999bb8fcd0b2 44 //
j_j205 0:999bb8fcd0b2 45 // DESCRIPTION:
j_j205 0:999bb8fcd0b2 46 // Scans to avoid obstacles.
j_j205 0:999bb8fcd0b2 47 int Scanner::avoid()
j_j205 0:999bb8fcd0b2 48 {
j_j205 0:999bb8fcd0b2 49 return 0;
j_j205 0:999bb8fcd0b2 50 }
j_j205 0:999bb8fcd0b2 51
j_j205 0:999bb8fcd0b2 52 // FUNCTION:
j_j205 0:999bb8fcd0b2 53 // localize()
j_j205 0:999bb8fcd0b2 54 // IN-PARAMETERS:
j_j205 0:999bb8fcd0b2 55 //
j_j205 0:999bb8fcd0b2 56 // OUT-PARAMETERS:
j_j205 0:999bb8fcd0b2 57 //
j_j205 0:999bb8fcd0b2 58 // DESCRIPTION:
j_j205 0:999bb8fcd0b2 59 // Checks localization points.
j_j205 0:999bb8fcd0b2 60 int Scanner::localize()
j_j205 0:999bb8fcd0b2 61 {
j_j205 0:999bb8fcd0b2 62 return 0;
j_j205 0:999bb8fcd0b2 63 }
j_j205 0:999bb8fcd0b2 64
j_j205 0:999bb8fcd0b2 65 // FUNCTION:
j_j205 0:999bb8fcd0b2 66 // scan()
j_j205 0:999bb8fcd0b2 67 // IN-PARAMETERS:
j_j205 0:999bb8fcd0b2 68 //
j_j205 0:999bb8fcd0b2 69 // OUT-PARAMETERS:
j_j205 0:999bb8fcd0b2 70 //
j_j205 0:999bb8fcd0b2 71 // DESCRIPTION:
j_j205 0:999bb8fcd0b2 72 // Checks localization points.
j_j205 0:999bb8fcd0b2 73 void Scanner::scan()
j_j205 0:999bb8fcd0b2 74 {
j_j205 0:999bb8fcd0b2 75
j_j205 0:999bb8fcd0b2 76 }