StateMachine.h

00001 /*
00002  * StateMachine.h
00003  * Copyright (c) 2018, 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 
00015 #include <deque>
00016 #include "Task.h"
00017 #include "TaskWait.h"
00018 #include "TaskMoveTo.h"
00019 
00020 /**
00021  * This class implements a simple state machine for a mobile robot.
00022  * It allows to move the robot forward, and to turn left or right,
00023  * depending on distance measurements, to avoid collisions with
00024  * obstacles.
00025  */
00026 class StateMachine {
00027     
00028     public:
00029         
00030         static const int    ROBOT_OFF = 0;      // discrete states of this state machine
00031         static const int    MOVE_FORWARD = 1;
00032         static const int    TURN_LEFT = 2;
00033         static const int    TURN_RIGHT = 3;
00034         static const int    SLOWING_DOWN = 4;
00035         
00036                     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,DigitalOut& led);
00037         virtual     ~StateMachine();
00038         int         getState();
00039         
00040     private:
00041         
00042         static const float  PERIOD;                 // period of task in [s]
00043         static const float  DISTANCE_THRESHOLD;     // minimum allowed distance to obstacle in [m]
00044         static const float  TRANSLATIONAL_VELOCITY; // translational velocity in [m/s]
00045         static const float  ROTATIONAL_VELOCITY;    // rotational velocity in [rad/s]
00046         
00047         Controller&     controller;
00048         DigitalOut&     enableMotorDriver;
00049         DigitalOut&     led;
00050         DigitalOut&     led0;
00051         DigitalOut&     led1;
00052         DigitalOut&     led2;
00053         DigitalOut&     led3;
00054         DigitalOut&     led4;
00055         DigitalOut&     led5;
00056         DigitalIn&      button;
00057         IRSensor&       irSensor0;
00058         IRSensor&       irSensor1;
00059         IRSensor&       irSensor2;
00060         IRSensor&       irSensor3;
00061         IRSensor&       irSensor4;
00062         IRSensor&       irSensor5;
00063         int             state;
00064         int             buttonNow;
00065         int             buttonBefore;
00066         Ticker          ticker;
00067         
00068         deque<Task*> taskList;
00069         
00070         void            run();
00071 };
00072 
00073 #endif /* STATE_MACHINE_H_ */
00074