lib base

[rover] / libraries / rover / rover.h

diff --git a/libraries/rover/rover.h b/libraries/rover/rover.h
index 1fcaa5cd1c0cb9a3e8f85cc9f085608ee0be987c..acde54fcf86c59cc804a688e58a8c67044f23972 100644 (file)
--- a/libraries/rover/rover.h
+++ b/libraries/rover/rover.h
@@ -13,6 +13,39 @@ Licenza:    GPLv3
 #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