*/
#include "Arduino.h"
+#include "Servo.h"
#ifndef rover_h
#define rover_h
-//////////////////////
-// OBJ
-
-
-class engine {
-// Gestione di un singolo motore
-private:
- byte enablePIN1;
- byte enablePIN2;
- byte min; // Minimo per partire
- byte val; // 8bit PWM
-
-public:
- Engine (byte PIN1, byte PIN2, byte PINPWM);
- void Forward ();
- void Backward ();
- void SetSpeed (); // imposta un valore preciso per il PWM
-
-}
-
-class motors {
-// classe composta da due engines
-// Composition is better than inheritance here
-
-public:
- motors (engine enginesx, engine enginedx) {
- void Forward ();
- void Backward ();
- void TurnLeft ();
- void TurnRight ();
- void TurnU ();
-}
-}
-//////////////////////
-// Funzioni
+// Global vars
+
+// Funzioni
+void abilita() ; // Abilita tutti i PIN
+void forwardA(); // speedA e' dato dalla variabile golabale speedA
+void forwardA(byte speedA); // Overloading
+void backwardA() ;
+void backwardA(byte speedA) ;
+void stopA() ;
+void forwardB() ;
+void forwardB(byte speedB) ;
+void backwardB() ;
+void backwardB(byte speedB) ;
+void stopB() ;
+
+// Entrambi i motori
+void avanti();
+void indietro();
+void giraSX();
+void giraDX() ;
+void stop() ;
+
+void servoDX() ;
+void servoSX() ;
+void servoMiddle() ;
+
+boolean distanceCheck() ;
+int distanceMonitor() ;
#endif