DFRduino.h

Go to the documentation of this file.

#ifndef DFRduino_h
#define DFRduino_h

#include "Arduino.h"
#include <Servo.h>

#define LEFT_MOTOR_SPEED_CONTROL          5
#define RIGHT_MOTOR_SPEED_CONTROL         6
#define LEFT_MOTOR_DIRECTION_CONTROL      4
#define RIGHT_MOTOR_DIRECTION_CONTROL     7

#define DISTANCE_SENSOR_INPUT_PIN         A5

#define HORIZONTAL_SERVO_PIN              13
#define VERTICAL_SERVO_PIN                12
class DFRduino {
public:
    DFRduino();

    void setDirection(char direction);

    void setMotors(int left, int right);

    void setHorizontalHeadPosition(int angle);

    void setVerticalHeadPosition(int angle);

    int readDistanceInCentimeters();

private:
    void initMotors();

    void initSensors();
        
    void error(char *error_message);

    int scaleSpeedToRangeOfInt(int speed);
    Servo horizontalServo;
    Servo verticalServo;
};

#endif