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 <deque>
00012 #include <mbed.h>
00013 #include "Controller.h"
00014 #include "IRSensor.h"
00015 #include "Task.h"
00016 #include "TaskWait.h"
00017 #include "TaskMove.h"
00018 #include "TaskMoveTo.h"
00019 #include "TaskMoveToWaypoint.h"
00020 
00021 /**
00022  * This class implements a simple state machine for a mobile robot.
00023  * It allows to move the robot forward, and to turn left or right,
00024  * depending on distance measurements, to avoid collisions with
00025  * obstacles.
00026  */
00027 class StateMachine {
00028     
00029     public:
00030         
00031         static const int    ROBOT_OFF = 0;          // discrete states of this state machine
00032         static const int    PROCESSING_TASKS = 1;
00033         static const int    TURN_LEFT = 2;
00034         static const int    TURN_RIGHT = 3;
00035         static const int    SLOWING_DOWN = 4;
00036         
00037                     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);
00038         virtual     ~StateMachine();
00039         int         getState();
00040         
00041     private:
00042         
00043         static const float  PERIOD;                 // period of task in [s]
00044         static const float  DISTANCE_THRESHOLD;     // minimum allowed distance to obstacle in [m]
00045         static const float  TRANSLATIONAL_VELOCITY; // translational velocity in [m/s]
00046         static const float  ROTATIONAL_VELOCITY;    // rotational velocity in [rad/s]
00047         
00048         Controller&     controller;
00049         DigitalOut&     enableMotorDriver;
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         deque<Task*>    taskList;
00067         Ticker          ticker;
00068         
00069         void            run();
00070 };
00071 
00072 #endif /* STATE_MACHINE_H_ */
00073