Revision fbcb25cc devices/DiWheelDrive/userthread.hpp

View differences:

devices/DiWheelDrive/userthread.hpp
18 18 
// Thresh for detecting obsticles
19 19 
#define PROXY_RING_THRESH 15000
20 20 

  		




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#define PUSH_BACK_COUNT 50


  		




  
  21
  
    
#define PUSH_BACK_COUNT 5


  		




  22
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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 150


  		




  24
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// Rotation around 180 degrees in microradian


  		




  ......




  65
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      RELEASE             = 8,


  		




  66
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      RELEASE_TO_CORRECT  = 9,


  		




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      CORRECT_POSITIONING = 10,


  		




  68
  
  
    
      ERROR               = 11


  		




  
  68
  
    
      ERROR               = 11,


  		




  
  69
  
    
      TURN                =12


  		




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    };


  		




  70
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  struct ut_counter{


  		




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      int whiteCount = 0;


  		




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      int proxyCount = 0;


  		




  74
  
  
    
      int reverseCount = 0;


  		




  75
  
  
    
      int correctionCount = 0;


  		




  
  75
  
    
      // int correctionCount = 0;


  		




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      int errorCount = 0;


  		




  
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      int idleCount = 0;


  		




  
  78
  
    
      int stepCount = 0;


  		




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  };


  		




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  // static const struct ut_counter emptyUtCount;


  		




  ......




  98
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  bool checkPinVoltage();


  		




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  bool checkPinEnabled();


  		




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  int getProxyRingSum();


  		




  
  103
  
    
  


  		




  
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  /**


  		




  
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   * Returns true when front sensors reaching high values


  		




  
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   * and all others are low. This indicates that the loading station is ahead.


  		




  
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   * If other sensores are blocked too, indicates that someone grabs the robot.


  		




  
  108
  
    
   */


  		




  
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  bool checkFrontalObject();


  		




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  111
  
    
  states utState = states::IDLE;


  		




  
  112
  
    
  states newState = states::IDLE;


  		




  
  113
  
    
  bool continue_on_obstacle = true;


  		




  104
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  /**


  		




  105
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   * Check if current position changes when the wheel are deactivated.


  		




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   * 


  		












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