Revision 019224ff devices/DiWheelDrive/userthread.hpp

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devices/DiWheelDrive/userthread.hpp
9 9 
// Speed when driving towards the docking station
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#define CHARGING_SPEED 5
11 11 
// Thresh to determain how much update steps should pass while alining
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#define MAX_CORRECTION_STEPS 250
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#define MAX_CORRECTION_STEPS 260
13 13 
// Thresh for wheel proxy sensors, when summed values fall below the state changes
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#define PROXY_WHEEL_THRESH 18000
15 15 
// Thresh for detecting obsticles
......
22 22 
#define ROTATION_20 -349065
23 23 
#define ROTATION_DURATION 10000
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#define RING_PROX_FRONT_THRESH 20000


  		




  
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#define PROX_MAX_VAL 65530


  		




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namespace amiro {


  		




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  ......




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    enum states{


  		




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      FOLLOW_LINE,


  		




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      RELEASE,


  		




  
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      RELEASE_TO_CORRECT,


  		




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      CHARGING,


  		




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      DETECT_STATION,


  		




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      CORRECT_POSITIONING,


  		












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