39 lines
843 B
C++
39 lines
843 B
C++
#include "Base_Robot.h"
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#include "Sensor_TCRT5000.h"
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class Robot_Seguidor
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{
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private:
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Base_Robot Robot;
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Sensor Sensor_1;
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Sensor Sensor_2;
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Sensor Sensor_3;
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Sensor Sensor_4;
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Sensor Sensor_5;
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int sensor[5];
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float Error=0, P=0, I=0, D=0, PID=0;
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float Error_Anterior=0, Anteriror_I=0;
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public:
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Robot_Seguidor(int Pin_Motor_1A,
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int IN1,
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int IN2,
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int ENA,
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int IN3,
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int IN4,
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int ENB,
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int PinS1,
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int PinS2,
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int PinS3,
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int PinS4,
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int PinS5)
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:Robot(IN1, IN2, ENA, IN3, IN4, ENB),
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Sensor_1(PinS1),
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Sensor_2(PinS2),
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Sensor_3(PinS3),
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Sensor_4(PinS4),
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Sensor_5(PinS5){}
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void Inicializar();
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void Lectura_de_sensores();
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void Modo_Seguidor(int kP,int KI,int KD,int Velocidad);
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};
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