Revision e2002d0e devices/DiWheelDrive/userthread.hpp
devices/DiWheelDrive/userthread.hpp | ||
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#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 |
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// Thresh for how long (update steps) the front sensors are allowed to detect white |
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#define WHITE_COUNT_THRESH 120 |
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// Rotation around 180 degrees in microradian |
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void checkForMotion(); |
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bool checkPinVoltage(); |
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bool checkPinEnabled(); |
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uint16_t getProxyRingSum(); |
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/** |
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* Check if current position changes when the wheel are deactivated. |
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