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Archer.h
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Archer.h
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/*
* Robot Navigation Program
* www.robotnav.com
*
* (C) Copyright 2016 - 2017 Adam Lassman
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef ARCHER_H
#define ARCHER_H
#include "Robot.h"
#include "RoboteqDevice.h"
#include "ErrorCodes.h"
#include "Constants.h"
#include <vector>
#include <string>
#include <cstring>
using namespace std;
class Archer : public Robot
{
protected:
RoboteqDevice device;
double COUNTS_REVOLUTION;
int MAX_COMMAND_SPEED;
int left_motor;
int right_motor;
int LEFT;
int RIGHT;
public:
int mCurrent;
Archer(float period, float track, float encoderScaleFactor, int COUNTS_REVOLUTION);
virtual ~Archer();
virtual int readSensors();
virtual void setActuators(vector<int> &MotorSpeed);
virtual void setActuators(float speed, float rate);
virtual void make_connection();
virtual int read_encoders();
};
#endif