Revision e2002d0e devices/DiWheelDrive/userthread.hpp

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devices/DiWheelDrive/userthread.hpp
12 12 
#define MAX_CORRECTION_STEPS 250
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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 20000
15 17 
// Thresh for how long (update steps) the front sensors are allowed to detect white
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#define WHITE_COUNT_THRESH 120
17 19 
// Rotation around 180 degrees in microradian
......
71 73 
  void checkForMotion();
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  bool checkPinVoltage();
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  bool checkPinEnabled();
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  uint16_t getProxyRingSum();
74 77 

  		




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  /**


  		




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   * Check if current position changes when the wheel are deactivated.


  		












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