Revision 64cba697 devices/DiWheelDrive/userthread.hpp

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devices/DiWheelDrive/userthread.hpp
62 62

  
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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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......
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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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