aboutsummaryrefslogtreecommitdiff
path: root/libraries/Robot_Motor/LineFollow.h
diff options
context:
space:
mode:
authorCristian Maglie <c.maglie@bug.st>2013-06-01 23:16:02 +0200
committerCristian Maglie <c.maglie@bug.st>2013-06-01 23:16:02 +0200
commit177ad96f866714a4962be57f69cd3d5a6334cde1 (patch)
tree1072239986340d6a239adac924eddf2e1d1ca566 /libraries/Robot_Motor/LineFollow.h
parent6cff36ac5e85c74bcb45cc53491ad69d64520b36 (diff)
parentd90fcca5839d13d57ed527d4009b78d22dafbde7 (diff)
Merge branch 'merge-1.0.5' into ide-1.5.x-discovery
Diffstat (limited to 'libraries/Robot_Motor/LineFollow.h')
-rw-r--r--libraries/Robot_Motor/LineFollow.h40
1 files changed, 40 insertions, 0 deletions
diff --git a/libraries/Robot_Motor/LineFollow.h b/libraries/Robot_Motor/LineFollow.h
new file mode 100644
index 0000000..608d573
--- /dev/null
+++ b/libraries/Robot_Motor/LineFollow.h
@@ -0,0 +1,40 @@
+#ifndef LINE_FOLLOW_H
+#define LINE_FOLLOW_H
+
+#if ARDUINO >= 100
+ #include "Arduino.h"
+#else
+ #include "WProgram.h"
+#endif
+
+class LineFollow{
+ public:
+ LineFollow();
+
+ void calibIRs();
+ void runLineFollow();
+ void config(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);
+
+ //These are all pure virtual functions, pure VF needs pure specifier "=0"
+ //virtual void motorsWrite(int speedL, int speedR)=0;
+ virtual void motorsWritePct(int speedLpct, int speedRpct)=0;
+ virtual void motorsStop()=0;
+ virtual int IRread(uint8_t num)=0;
+ protected:
+ virtual void reportActionDone()=0;
+
+ private:
+ void doCalibration(int speedPct, int time);
+ void ajusta_niveles();
+
+ uint8_t KP;
+ uint8_t KD;
+ uint8_t robotSpeed; //percentage
+ uint8_t intergrationTime;
+
+ int lectura_sensor[5], last_error, acu;
+ int sensor_blanco[5];
+ int sensor_negro[5];
+};
+
+#endif \ No newline at end of file