AMiRo-OS

#define AMIRO_MAP_AUTO_TRACKING true

    // States of user thread state machine

    // enum ut_states : int8_t {

    //   UT_IDLE = 0,

    //   UT_FOLLOW_LINE = 1,

    //   UT_DETECT_STATION = 2,

    //   UT_REVERSE = 3,

    //   UT_PUSH_BACK = 4,

    //   UT_CHECK_POSITIONING = 5,

    //   UT_CHECK_VOLTAGE = 6,

    //   UT_CHARGING = 7,

    //   UT_RELEASE = 8,

    //   UT_RELEASE_TO_CORRECT = 9,

    //   UT_CORRECT_POSITIONING = 10,

    //   UT_TURN = 12,

    //   UT_INACTIVE = 13,

    //   UT_CALIBRATION = 14,

    //   UT_CALIBRATION_CHECK = 15,

    //   UT_DEVIATION_CORRECTION = 16,

    //   UT_TEST_MAP_STATE = 17,

    //   UT_TEST_MAP_AUTO_STATE = 18,

    //   UT_DOCKING_ERROR = -1,

    //   UT_REVERSE_TIMEOUT_ERROR = -2,

    //   UT_CALIBRATION_ERROR = -3,

    //   UT_WHITE_DETECTION_ERROR = -4,

    //   UT_PROXY_DETECTION_ERROR = -5,

    //   UT_NO_CHARGING_POWER_ERROR = -6,

    //   UT_UNKNOWN_STATE_ERROR = -7

    // };

    struct ut_counter {

      int whiteCount = 0;

      int ringProxCount = 0;

      // int correctionCount = 0;

      int errorCount = 0;

      int stateCount = 0;

      int stepCount = 0;

      uint32_t stateTime = 0;