ROME2 / Mbed 2 deprecated ROME2_p3

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

StateMachine.h@3:4db174c9e441, 2020-03-25 (annotated)

Committer:
zimmeer1
Date:
Wed Mar 25 16:12:12 2020 +0000
Revision:
3:4db174c9e441
Parent:
1:c5408c1c1b81 
works;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
koenithi 0:d8d297847268 1 /*
koenithi 0:d8d297847268 2 * StateMachine.h
koenithi 0:d8d297847268 3 * Copyright (c) 2020, ZHAW
koenithi 0:d8d297847268 4 * All rights reserved.
koenithi 0:d8d297847268 5 */
koenithi 0:d8d297847268 6
koenithi 0:d8d297847268 7 #ifndef STATE_MACHINE_H_
koenithi 0:d8d297847268 8 #define STATE_MACHINE_H_
koenithi 0:d8d297847268 9
koenithi 0:d8d297847268 10 #include <cstdlib>
koenithi 0:d8d297847268 11 #include <mbed.h>
koenithi 0:d8d297847268 12 #include "Controller.h"
koenithi 0:d8d297847268 13 #include "IRSensor.h"
koenithi 0:d8d297847268 14
koenithi 1:c5408c1c1b81 15 #include <deque>
koenithi 1:c5408c1c1b81 16 #include "Task.h"
koenithi 1:c5408c1c1b81 17 #include "TaskWait.h"
koenithi 1:c5408c1c1b81 18 #include "TaskMoveTo.h"
koenithi 1:c5408c1c1b81 19
koenithi 1:c5408c1c1b81 20
koenithi 0:d8d297847268 21 /**
koenithi 0:d8d297847268 22 * This class implements a simple state machine for a mobile robot.
koenithi 0:d8d297847268 23 * It allows to move the robot forward, and to turn left or right,
koenithi 0:d8d297847268 24 * depending on distance measurements, to avoid collisions with
koenithi 0:d8d297847268 25 * obstacles.
koenithi 0:d8d297847268 26 */
koenithi 0:d8d297847268 27 class StateMachine {
koenithi 0:d8d297847268 28
koenithi 0:d8d297847268 29 public:
koenithi 0:d8d297847268 30
koenithi 0:d8d297847268 31 static const int ROBOT_OFF = 0; // discrete states of this state machine
koenithi 0:d8d297847268 32 static const int MOVE_FORWARD = 1;
koenithi 0:d8d297847268 33 static const int TURN_LEFT = 2;
koenithi 0:d8d297847268 34 static const int TURN_RIGHT = 3;
koenithi 0:d8d297847268 35 static const int SLOWING_DOWN = 4;
koenithi 0:d8d297847268 36
koenithi 0:d8d297847268 37 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);
koenithi 0:d8d297847268 38 virtual ~StateMachine();
koenithi 0:d8d297847268 39 int getState();
koenithi 0:d8d297847268 40
koenithi 0:d8d297847268 41 private:
koenithi 0:d8d297847268 42
koenithi 0:d8d297847268 43 static const float PERIOD; // period of task in [s]
koenithi 0:d8d297847268 44 static const float DISTANCE_THRESHOLD; // minimum allowed distance to obstacle in [m]
koenithi 0:d8d297847268 45 static const float TRANSLATIONAL_VELOCITY; // translational velocity in [m/s]
koenithi 0:d8d297847268 46 static const float ROTATIONAL_VELOCITY; // rotational velocity in [rad/s]
koenithi 0:d8d297847268 47
koenithi 0:d8d297847268 48 Controller& controller;
koenithi 0:d8d297847268 49 DigitalOut& enableMotorDriver;
koenithi 0:d8d297847268 50 DigitalOut& led0;
koenithi 0:d8d297847268 51 DigitalOut& led1;
koenithi 0:d8d297847268 52 DigitalOut& led2;
koenithi 0:d8d297847268 53 DigitalOut& led3;
koenithi 0:d8d297847268 54 DigitalOut& led4;
koenithi 0:d8d297847268 55 DigitalOut& led5;
koenithi 0:d8d297847268 56 DigitalIn& button;
koenithi 0:d8d297847268 57 IRSensor& irSensor0;
koenithi 0:d8d297847268 58 IRSensor& irSensor1;
koenithi 0:d8d297847268 59 IRSensor& irSensor2;
koenithi 0:d8d297847268 60 IRSensor& irSensor3;
koenithi 0:d8d297847268 61 IRSensor& irSensor4;
koenithi 0:d8d297847268 62 IRSensor& irSensor5;
koenithi 0:d8d297847268 63 int state;
koenithi 0:d8d297847268 64 int buttonNow;
koenithi 0:d8d297847268 65 int buttonBefore;
koenithi 0:d8d297847268 66 Ticker ticker;
koenithi 1:c5408c1c1b81 67 int result;
koenithi 1:c5408c1c1b81 68 void run();
koenithi 0:d8d297847268 69
koenithi 1:c5408c1c1b81 70 deque<Task*> taskList;
koenithi 1:c5408c1c1b81 71 Task* task;
koenithi 0:d8d297847268 72 };
koenithi 0:d8d297847268 73
koenithi 0:d8d297847268 74 #endif /* STATE_MACHINE_H_ */
koenithi 0:d8d297847268 75