Classes (Sensors/Motors)

• GPS
  • position (latitude, longitude, altitude)
  • signal quality (waas, differential, none)
• Odometers
  • position (x,y)
  • orientation
• Compass
  • orientation
• Joystick
  • knob directions and magnitudes
  • button states
• Battery
  • charge
• Sonars
  • range (meters)
• Camera
  • orientation (vanishing point detection, localization)
  • relative position (localization)
• Motors
  • forward speed (meters/sec)
  • turn rate (radians/sec)

Classes (Functions)

• Obstacle Avoidance
  • Sonar
  • Odometers
• Navigation
  • GPS
  • Compass
  • Odometers
• Path Planning
  • Navigation
• User Interface
  • Joystick
  • Battery
• Motion Control
  • Motors

Class Motion

{

   public:
        int Move(int distance, int speed)
        int Turn(float radius, int velocity, int angular_acceleration)
   private:
        int velocity = 0; 
        int acceleration = 0; 
        int x=0;
        int y=0;
        float radius=0;
        int angular_acceleration=0;

}

int Motion::Move( ) {

}

Class Position

{

    public:
       float[] GetWaypoint();
       float[] GetHeading();
       float[] getRange();
       float[] getPosition();

    private:
       float latitude;
       float longitude;
       float degrees;
       float time_of_flight;
       float x;
       float y;

}

Class RobotMap

{

 Private:
   LinkedList WayPoints
   CreateGraph()

 Public:
   RobotMap()
   RobotMap(String FileLocation)
   PlanPath(WayPoint *Start, WayPoint *End)
   RecalculatePath()
   WayPoint *GetNextWayPoint()

}

Class Camera

{

 Public:
   Camera(options)
   GetOrientation()

 Private:
   Image GetNewImage()
   CompareToDatabase(Image *im)

}

Class Compass

{

 Public:
   Compass(options)
   GetHeading()
 Private:
   double Heading

}

Class GPS

{

 Public:
   GPS(options)
   GetHeading()
   GetPosition()
 Private:
   double Latitude
   double Longitude
   double Heading

}

Class Sonar

{

 Public:
   Sonar(options)
   GetSonarReadings()
 Private:
   double values[]

}