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amiro-os / devices / DiWheelDrive / userthread.hpp @ e2002d0e

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#ifndef AMIRO_USERTHREAD_H_
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#define AMIRO_USERTHREAD_H_
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#include <ch.hpp>
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#include <amiroosconf.h>
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#include <amiro/Color.h>
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// Speed when driving towards the docking station
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#define CHARGING_SPEED 5
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// Thresh to determain how much update steps should pass while alining
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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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#define ROTATION_180 3141592
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// Rotation around -20 degrees in microradian
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#define ROTATION_20 -349065
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#define ROTATION_DURATION 10000
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namespace amiro {
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class UserThread : public chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>
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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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    enum msg_content{
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      STOP, 
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      START,
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      EDGE_LEFT,
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      EDGE_RIGHT,
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      FUZZY,
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      DOCK,
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      UNDOCK,
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      CHARGE
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    };
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    // States of user thread state machine
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    enum states{
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      FOLLOW_LINE,
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      RELEASE,
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      CHARGING,
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      DETECT_STATION,
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      CORRECT_POSITIONING,
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      REVERSE,
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      CHECK_POSITIONING,
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      IDLE
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    };
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  explicit UserThread();
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  virtual ~UserThread();
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  virtual msg_t main();
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private:
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  void setRpmSpeed(const int (&rpmSpeed)[2]);
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  void lightOneLed(Color color, int idx);
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  void lightAllLeds(Color color);
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  /**
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   * Uses light ring indicate the state of charge.
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   */
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  void showChargingState();
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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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   * 
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   * When AMiRo drives towards the loading station, it stops when a specific marker is reached.
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   * In order to validate that the AMiRo is correctly positioned in the loading station
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   * the wheels are turned off. When the position remains the same the docking procedure
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   * was successful (return 1) otherwise a correction is needed (return 0). 
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   */
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  int checkDockingSuccess();
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};
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} // end of namespace amiro
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#endif // AMIRO_USERTHREAD_H_