LineFollowingRobotFirmware/robot.h at master · john-curry/LineFollowingRobotFirmware · GitHub

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#ifndef ROBOT_H
#define ROBOT_H
#include <stdint.h>
#include "stm32f4_discovery.h"
#include "direction.h"

typedef struct _robot {
  /*
    the amount that we change the angle by
    TODO: calibrate wheel rotation
  */
  uint16_t delta_angle; // =
  /*
    Distance between the ir sensors
    TODO: measure distance between ir sensors
  */
  uint16_t ir_distance; // =
  /*
    Distance between the motors
    TODO: measure distance between motors
  */
  uint16_t wh_distance; // =

  uint16_t motor_plf;
  uint16_t motor_plr;

  uint16_t motor_prf;
  uint16_t motor_prr;

  Direction facing;
} Robot;

void init_Robot(Robot * robot);
#endif