Revision 27d4e1fa devices/DiWheelDrive/userthread.hpp

View differences:

devices/DiWheelDrive/userthread.hpp
17 17 
#define PROXY_WHEEL_THRESH 18000
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// Thresh for detecting obsticles
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#define PROXY_RING_THRESH 15000
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#define PUSH_BACK_COUNT 50


  		




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// Thresh for how long (update steps) the front sensors are allowed to detect white


  		




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#define WHITE_COUNT_THRESH 150


  		




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// Rotation around 180 degrees in microradian


  		




  ......




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#define RING_PROX_FRONT_THRESH 18000


  		




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#define PROX_MAX_VAL 65430


  		




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// Threshold for failing to dock


  		




  
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#define DOCKING_ERROR_THRESH 4


  		




  
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namespace amiro {


  		




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  ......




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    };


  		




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    // States of user thread state machine


  		




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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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      REVERSE,


  		




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      CHECK_POSITIONING,


  		




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      CHECK_VOLTAGE,


  		




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      IDLE


  		




  
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    enum states : uint8_t{


  		




  
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      IDLE                = 0,


  		




  
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      FOLLOW_LINE         = 1,


  		




  
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      DETECT_STATION      = 2,


  		




  
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      REVERSE             = 3,


  		




  
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      PUSH_BACK           = 4,


  		




  
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      CHECK_POSITIONING   = 5,


  		




  
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      CHECK_VOLTAGE       = 6,


  		




  
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      CHARGING            = 7,


  		




  
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      RELEASE             = 8,


  		




  
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      RELEASE_TO_CORRECT  = 9,


  		




  
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      CORRECT_POSITIONING = 10,


  		




  
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      ERROR               = 11


  		




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    };


  		




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  struct ut_counter{


  		




  
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      int whiteCount = 0;


  		




  
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      int proxyCount = 0;


  		




  
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      int reverseCount = 0;


  		




  
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      int correctionCount = 0;


  		




  
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      int errorCount = 0;


  		




  
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  };


  		




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  // static const struct ut_counter emptyUtCount;


  		




  
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  ut_counter utCount;


  		




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  explicit UserThread();


  		




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  int getProxyRingSum();


  		




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  /**


  		




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   * Check if current position changes when the wheel are deactivated.


  		




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   * 


  		












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