Revision 64cba697 devices/DiWheelDrive/userthread.hpp
devices/DiWheelDrive/userthread.hpp | ||
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// Map Tracking Parameters |
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// enable amiro map to continuously build internal map representation |
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#define AMIRO_MAP_AUTO_TRACKING true
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#define AMIRO_MAP_AUTO_TRACKING false
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// Messages which can be received and trigger state changes |
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public: |
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// States of user thread state machine |
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// enum ut_states : int8_t { |
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// UT_IDLE = 0, |
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// UT_FOLLOW_LINE = 1, |
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// UT_DETECT_STATION = 2, |
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// UT_REVERSE = 3, |
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// UT_PUSH_BACK = 4, |
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// UT_CHECK_POSITIONING = 5, |
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// UT_CHECK_VOLTAGE = 6, |
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// UT_CHARGING = 7, |
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// UT_RELEASE = 8, |
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// UT_RELEASE_TO_CORRECT = 9, |
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// UT_CORRECT_POSITIONING = 10, |
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// UT_TURN = 12, |
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// UT_INACTIVE = 13, |
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// UT_CALIBRATION = 14, |
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// UT_CALIBRATION_CHECK = 15, |
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// UT_DEVIATION_CORRECTION = 16, |
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// UT_TEST_MAP_STATE = 17, |
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// UT_TEST_MAP_AUTO_STATE = 18, |
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// UT_DOCKING_ERROR = -1, |
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// UT_REVERSE_TIMEOUT_ERROR = -2, |
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// UT_CALIBRATION_ERROR = -3, |
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// UT_WHITE_DETECTION_ERROR = -4, |
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// UT_PROXY_DETECTION_ERROR = -5, |
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// UT_NO_CHARGING_POWER_ERROR = -6, |
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// UT_UNKNOWN_STATE_ERROR = -7 |
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// }; |
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struct ut_counter { |
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int whiteCount = 0; |
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int ringProxCount = 0; |
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// int correctionCount = 0; |
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int errorCount = 0; |
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int stateCount = 0; |
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int stepCount = 0; |
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uint32_t stateTime = 0; |
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struct ut_counter { |
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int whiteCount = 0; |
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int ringProxCount = 0; |
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// int correctionCount = 0; |
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int errorCount = 0; |
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int stateCount = 0; |
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int stepCount = 0; |
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uint32_t stateTime = 0; |
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}; |
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struct proxy_ctrl { |
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