amiro-os / devices / DiWheelDrive / DiWheelDrive.h @ 06c41883
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#ifndef AMIRO_DI_WHEEL_DRIVE_H_
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#define AMIRO_DI_WHEEL_DRIVE_H_
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#include <amiro/ControllerAreaNetworkRx.h> |
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#include <amiro/ControllerAreaNetworkTx.h> |
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#include <amiro/MotorIncrements.h> |
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#include <amiro/MotorControl.h> |
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#include <amiro/Odometry.h> |
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#include <amiro/proximity/vcnl4020.hpp> |
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#include <Types.h> // kinematic |
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#include <amiro/FileSystemInputOutput/FSIODiWheelDrive.hpp> |
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#include <amiro/power/ltc4412.hpp> |
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#include <string.h> // memcpy |
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namespace amiro { |
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class DiWheelDrive : public ControllerAreaNetworkTx, public ControllerAreaNetworkRx { |
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public:
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DiWheelDrive(CANDriver *can);//, MotorControl *motorcontrol, Odometry *odometry, VCNL4020 (*vcnl4020)[4], fileSystemIo::FSIODiWheelDrive *memory, BaseLTC4412wEN *ltc4412);
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virtual void calibrate();
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/** \brief Handle the termination of ControllerAreaNetworkTx and ControllerAreaNetworkRx threads
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* This includes waiting until the threads have terminated, thus this function might block a relatively long time.
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*/
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msg_t terminate(void);
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/** \brief Handle the start of ControllerAreaNetworkTx and ControllerAreaNetworkRx threads */
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ThreadReference start(tprio_t PRIO); |
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/**
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* Set Request to disable or enable the Charging.
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* @param power 0 to disable, 1 to enable
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*/
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void requestCharging(uint8_t power);
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void transmitState(uint8_t state);
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protected:
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virtual msg_t receiveMessage(CANRxFrame *frame); |
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virtual msg_t updateSensorVal(); |
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virtual void periodicBroadcast();
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void calibrateProximityFloorValues();
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private:
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uint32_t bcCounter; |
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// MotorControl *motorcontrol;
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// Odometry *odometry;
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// VCNL4020 (*vcnl4020)[4];
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// fileSystemIo::FSIODiWheelDrive *memory;
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// BaseLTC4412wEN *ltc4412;
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int actualSpeed[2]; |
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types::position robotPosition; |
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}; |
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} |
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#endif /* AMIRO_DI_WHEEL_DRIVE_H_ */ |