StateMachine.h

00001 /*
00002  * StateMachine.h
00003  * Copyright (c) 2020, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #ifndef STATE_MACHINE_H_
00008 #define STATE_MACHINE_H_
00009 
00010 #include <cstdlib>
00011 #include <mbed.h>
00012 #include "Controller.h"
00013 #include "IRSensor.h"
00014 #include <deque>
00015 #include "Task.h"
00016 #include "TaskWait.h"
00017 #include "TaskMoveTo.h"
00018 
00019 /**
00020  * This class implements a simple state machine for a mobile robot.
00021  * It allows to move the robot forward, and to turn left or right,
00022  * depending on distance measurements, to avoid collisions with
00023  * obstacles.
00024  */
00025 class StateMachine {
00026     
00027     public:
00028         
00029         static const int    ROBOT_OFF = 0;      // discrete states of this state machine
00030         static const int    MOVE_FORWARD = 1;
00031         static const int    TURN_LEFT = 2;
00032         static const int    TURN_RIGHT = 3;
00033         static const int    SLOWING_DOWN = 4;
00034         
00035                     StateMachine(Controller& controller, DigitalOut& enableMotorDriver, DigitalOut& led0, DigitalOut& led1, DigitalOut& led2, DigitalOut& led3, DigitalOut& led4, DigitalOut& led5, DigitalIn& button, IRSensor& irSensor0, IRSensor& irSensor1, IRSensor& irSensor2, IRSensor& irSensor3, IRSensor& irSensor4, IRSensor& irSensor5);
00036         virtual     ~StateMachine();
00037         int         getState();
00038         
00039     private:
00040         
00041         static const float  PERIOD;                 // period of task in [s]
00042         static const float  DISTANCE_THRESHOLD;     // minimum allowed distance to obstacle in [m]
00043         static const float  TRANSLATIONAL_VELOCITY; // translational velocity in [m/s]
00044         static const float  ROTATIONAL_VELOCITY;    // rotational velocity in [rad/s]
00045         
00046         Controller&     controller;
00047         DigitalOut&     enableMotorDriver;
00048         DigitalOut&     led0;
00049         DigitalOut&     led1;
00050         DigitalOut&     led2;
00051         DigitalOut&     led3;
00052         DigitalOut&     led4;
00053         DigitalOut&     led5;
00054         DigitalIn&      button;
00055         IRSensor&       irSensor0;
00056         IRSensor&       irSensor1;
00057         IRSensor&       irSensor2;
00058         IRSensor&       irSensor3;
00059         IRSensor&       irSensor4;
00060         IRSensor&       irSensor5;
00061         int             state;
00062         int             buttonNow;
00063         int             buttonBefore;
00064         Ticker          ticker;
00065         
00066         deque<Task*>    taskList;
00067         
00068         void            run();
00069 };
00070 
00071 #endif /* STATE_MACHINE_H_ */
00072