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amiro-os / devices / DiWheelDrive / DiWheelDrive.h @ bdac5bec

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#ifndef AMIRO_DI_WHEEL_DRIVE_H_
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#define AMIRO_DI_WHEEL_DRIVE_H_
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#include <amiro/ControllerAreaNetworkRx.h>
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#include <amiro/ControllerAreaNetworkTx.h>
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#include <amiro/MotorIncrements.h>
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#include <amiro/MotorControl.h>
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#include <amiro/Odometry.h>
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#include <amiro/proximity/vcnl4020.hpp>
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#include <Types.h> // kinematic
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#include <amiro/FileSystemInputOutput/FSIODiWheelDrive.hpp>
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#include <amiro/power/ltc4412.hpp>
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#include <string.h>  // memcpy
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namespace amiro {
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  class DiWheelDrive : public ControllerAreaNetworkTx, public ControllerAreaNetworkRx {
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  public:
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    DiWheelDrive(CANDriver *can);//, MotorControl *motorcontrol, Odometry *odometry, VCNL4020 (*vcnl4020)[4], fileSystemIo::FSIODiWheelDrive *memory, BaseLTC4412wEN *ltc4412);
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    virtual void  calibrate();
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    /** \brief Handle the termination of ControllerAreaNetworkTx and ControllerAreaNetworkRx threads
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     *         This includes waiting until the threads have terminated, thus this function might block a relatively long time.
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     */
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    msg_t terminate(void);
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    /** \brief Handle the start of ControllerAreaNetworkTx and ControllerAreaNetworkRx threads */
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    ThreadReference start(tprio_t PRIO);
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    /**
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    * Set Request to disable or enable the Charging.
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    * @param power 0 to disable, 1 to enable
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    */
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    void requestCharging(uint8_t power);
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    void transmitState(int8_t state);
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  protected:
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    virtual msg_t receiveMessage(CANRxFrame *frame);
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    virtual msg_t updateSensorVal();
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    virtual void periodicBroadcast();
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    void  calibrateProximityFloorValues();
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  private:
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    uint32_t bcCounter;
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//    MotorControl *motorcontrol;
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//    Odometry *odometry;
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//    VCNL4020 (*vcnl4020)[4];
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//    fileSystemIo::FSIODiWheelDrive *memory;
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//    BaseLTC4412wEN *ltc4412;
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    int actualSpeed[2];
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    types::position robotPosition;
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  };
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}
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#endif /* AMIRO_DI_WHEEL_DRIVE_H_ */