AMiRo-OS

#ifndef AMIRO_USERTHREAD_H_

#define AMIRO_USERTHREAD_H_

#include <ch.hpp>

#include <amiroosconf.h>

namespace amiro {

class UserThread : public chibios_rt::BaseStaticThread<USER_THREAD_STACK_SIZE>

{

public:

  enum State {

    IDLE,

    OBSTACLE_AVOIDANCE,

    WII_STEERING,

  };

public:

  explicit UserThread();

  virtual ~UserThread();

  virtual msg_t main();

  void setNextState(const State state);

  State getCurrenState() const;

  msg_t setWiiAddress(const char* address);

  float setWiiDeadzone(const float deadzone);

};

} // end of namespace amiro

#endif // AMIRO_USERTHREAD_H_