Last change
on this file since 449 was 136, checked in by ertl-honda, 9 years ago |
ライブラリとOS及びベーシックなサンプルの追加.
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File size:
891 bytes
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1 | #ifndef LINE_FOLLOW_H
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2 | #define LINE_FOLLOW_H
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3 |
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4 | #if ARDUINO >= 100
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5 | #include "Arduino.h"
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6 | #else
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7 | #include "WProgram.h"
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8 | #endif
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9 |
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10 | class LineFollow{
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11 | public:
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12 | LineFollow();
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13 |
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14 | void calibIRs();
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15 | void runLineFollow();
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16 | void config(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);
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17 |
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18 | //These are all pure virtual functions, pure VF needs pure specifier "=0"
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19 | //virtual void motorsWrite(int speedL, int speedR)=0;
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20 | virtual void motorsWritePct(int speedLpct, int speedRpct)=0;
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21 | virtual void motorsStop()=0;
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22 | virtual int _IRread(uint8_t num)=0;
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23 | protected:
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24 | virtual void reportActionDone()=0;
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25 |
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26 | private:
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27 | void doCalibration(int speedPct, int time);
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28 | void ajusta_niveles();
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29 |
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30 | uint8_t KP;
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31 | uint8_t KD;
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32 | uint8_t robotSpeed; //percentage
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33 | uint8_t intergrationTime;
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34 |
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35 | int lectura_sensor[5], last_error, acu;
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36 | int sensor_blanco[5];
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37 | int sensor_negro[5];
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38 | };
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39 |
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40 | #endif
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