amiro-os / devices / DiWheelDrive / userthread.hpp @ 61544eee
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#ifndef AMIRO_USERTHREAD_H_
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#define AMIRO_USERTHREAD_H_
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#include <ch.hpp> |
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#include <amiroosconf.h> |
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#include <amiro/Color.h> |
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// Speed when driving towards the docking station
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#define CHARGING_SPEED 5 |
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#define DETECTION_SPEED 10 |
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#define DIST_THRESH 100 |
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#define RELEASE_COUNT 200 |
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// Thresh to determain how much update steps should pass while alining
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#define MAX_CORRECTION_STEPS 300 |
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// Thresh for wheel proxy sensors, when summed values fall below the state changes
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#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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// 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 ROTATION_180 3141592 |
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// Rotation around -20 degrees in microradian
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#define ROTATION_20 -349065 |
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#define ROTATION_DURATION 10000 |
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#define RING_PROX_FRONT_THRESH 18000 |
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#define PROX_MAX_VAL 65430 |
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namespace amiro {
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class UserThread : public chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE> |
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{ |
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// Messages which can be received and trigger state changes
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public:
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enum msg_content{
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STOP, |
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START, |
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EDGE_LEFT, |
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EDGE_RIGHT, |
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FUZZY, |
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DOCK, |
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UNDOCK, |
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CHARGE |
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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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}; |
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explicit UserThread();
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virtual ~UserThread();
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virtual msg_t main();
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private:
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void setRpmSpeed(const int (&rpmSpeed)[2]); |
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void lightOneLed(Color color, int idx); |
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void lightAllLeds(Color color);
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/**
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* Uses light ring indicate the state of charge.
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*/
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void showChargingState();
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void checkForMotion();
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bool checkPinVoltage();
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bool checkPinEnabled();
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uint16_t 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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* When AMiRo drives towards the loading station, it stops when a specific marker is reached.
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* In order to validate that the AMiRo is correctly positioned in the loading station
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* the wheels are turned off. When the position remains the same the docking procedure
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* was successful (return 1) otherwise a correction is needed (return 0).
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*/
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int checkDockingSuccess();
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}; |
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} // end of namespace amiro
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#endif // AMIRO_USERTHREAD_H_ |