Justin Jordan / scanner

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

scanner.h@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 #ifndef SCANNER_H
j_j205 0:999bb8fcd0b2 2 #define SCANNER_H
j_j205 0:999bb8fcd0b2 3 #include "mbed.h"
j_j205 0:999bb8fcd0b2 4 #include "Gp2x.h"
j_j205 0:999bb8fcd0b2 5 #include "VL6180x.h"
j_j205 0:999bb8fcd0b2 6
j_j205 0:999bb8fcd0b2 7 class Scanner
j_j205 0:999bb8fcd0b2 8 {
j_j205 0:999bb8fcd0b2 9 public:
j_j205 0:999bb8fcd0b2 10 Scanner(Serial &pc1, PinName _servoL, PinName _servoR,
j_j205 0:999bb8fcd0b2 11 VL6180x &_shortRangeL, VL6180x &_shortRangeR, Gp2x &_longRangeL,
j_j205 0:999bb8fcd0b2 12 Gp2x &_longRangeR, float _period);
j_j205 0:999bb8fcd0b2 13 int hunt();
j_j205 0:999bb8fcd0b2 14 int avoid();
j_j205 0:999bb8fcd0b2 15 int localize();
j_j205 0:999bb8fcd0b2 16
j_j205 0:999bb8fcd0b2 17 private:
j_j205 0:999bb8fcd0b2 18 Serial &pc;
j_j205 0:999bb8fcd0b2 19 PwmOut servoL;
j_j205 0:999bb8fcd0b2 20 PwmOut servoR;
j_j205 0:999bb8fcd0b2 21 VL6180x &shortRangeL;
j_j205 0:999bb8fcd0b2 22 VL6180x &shortRangeR;
j_j205 0:999bb8fcd0b2 23 Gp2x &longRangeL;
j_j205 0:999bb8fcd0b2 24 Gp2x &longRangeR;
j_j205 0:999bb8fcd0b2 25 float period;
j_j205 0:999bb8fcd0b2 26
j_j205 0:999bb8fcd0b2 27 Ticker pit; // periodic interrupt timer
j_j205 0:999bb8fcd0b2 28
j_j205 0:999bb8fcd0b2 29 void scan();
j_j205 0:999bb8fcd0b2 30
j_j205 0:999bb8fcd0b2 31 };
j_j205 0:999bb8fcd0b2 32
j_j205 0:999bb8fcd0b2 33 #endif // SCANNER_H