AMiRo-OS

#ifndef AMIRO_DI_WHEEL_DRIVE_H_

#define AMIRO_DI_WHEEL_DRIVE_H_

#include <amiro/ControllerAreaNetworkRx.h>

#include <amiro/ControllerAreaNetworkTx.h>

#include <amiro/MotorIncrements.h>

#include <amiro/MotorControl.h>

#include <amiro/Odometry.h>

#include <amiro/proximity/vcnl4020.hpp>

#include <Types.h> // kinematic

#include <amiro/FileSystemInputOutput/FSIODiWheelDrive.hpp>

#include <amiro/power/ltc4412.hpp>

#include <string.h>  // memcpy

namespace amiro {

  class DiWheelDrive : public ControllerAreaNetworkTx, public ControllerAreaNetworkRx {

  public:

    DiWheelDrive(CANDriver *can);//, MotorControl *motorcontrol, Odometry *odometry, VCNL4020 (*vcnl4020)[4], fileSystemIo::FSIODiWheelDrive *memory, BaseLTC4412wEN *ltc4412);

    virtual void  calibrate();

    /** \brief Handle the termination of ControllerAreaNetworkTx and ControllerAreaNetworkRx threads

     *         This includes waiting until the threads have terminated, thus this function might block a relatively long time.

     */

    msg_t terminate(void);

    /** \brief Handle the start of ControllerAreaNetworkTx and ControllerAreaNetworkRx threads */

    ThreadReference start(tprio_t PRIO);

    /**

    * Set Request to disable or enable the Charging.

    * @param power 0 to disable, 1 to enable

    */

    void requestCharging(uint8_t power);

    void transmitState(uint8_t state);

  protected:

    virtual msg_t receiveMessage(CANRxFrame *frame);

    virtual msg_t updateSensorVal();

    virtual void periodicBroadcast();

    void  calibrateProximityFloorValues();

  private:

    uint32_t bcCounter;

//    MotorControl *motorcontrol;

//    Odometry *odometry;

//    VCNL4020 (*vcnl4020)[4];

//    fileSystemIo::FSIODiWheelDrive *memory;

//    BaseLTC4412wEN *ltc4412;

    int actualSpeed[2];

    types::position robotPosition;

  };

}

#endif /* AMIRO_DI_WHEEL_DRIVE_H_ */