Jordan Brack / SmartWheelsPublic

SmartWheels self-driving race car. Designed for NXP Cup. Uses FRDM-KL25Z, area-scan camera, and simple image processing to detect and navigate any NXP spec track.

Dependencies:   TSI USBDevice mbed-dev

Fork of SmartWheels by haofan Zheng

StateMachine/RunningState.h@80:c85cb93713b3, 2017-04-18 (annotated)

Committer:
hazheng
Date:
Tue Apr 18 19:26:33 2017 +0000
Branch:
Drift
Revision:
80:c85cb93713b3
Child:
85:f3911aab41d9
Transfer to State Machine.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 80:c85cb93713b3 1 #pragma once
hazheng 80:c85cb93713b3 2 #ifndef RUNNING_STATE_H
hazheng 80:c85cb93713b3 3 #define RUNNING_STATE_H
hazheng 80:c85cb93713b3 4
hazheng 80:c85cb93713b3 5 #include <mbed.h>
hazheng 80:c85cb93713b3 6 #include "States.h"
hazheng 80:c85cb93713b3 7
hazheng 80:c85cb93713b3 8 class RunningState : public States
hazheng 80:c85cb93713b3 9 {
hazheng 80:c85cb93713b3 10 public:
hazheng 80:c85cb93713b3 11 RunningState();
hazheng 80:c85cb93713b3 12 ~RunningState();
hazheng 80:c85cb93713b3 13
hazheng 80:c85cb93713b3 14 virtual void DrawUserInterface();
hazheng 80:c85cb93713b3 15
hazheng 80:c85cb93713b3 16 virtual void Update(float deltaTime);
hazheng 80:c85cb93713b3 17
hazheng 80:c85cb93713b3 18 virtual uint8_t HasTouchPosFunction() const;
hazheng 80:c85cb93713b3 19
hazheng 80:c85cb93713b3 20 virtual uint8_t HasTouchIrqFunction() const;
hazheng 80:c85cb93713b3 21
hazheng 80:c85cb93713b3 22 virtual void TouchPosCallback(int16_t x, int16_t y);
hazheng 80:c85cb93713b3 23
hazheng 80:c85cb93713b3 24 virtual void TouchIrqCallback();
hazheng 80:c85cb93713b3 25
hazheng 80:c85cb93713b3 26 private:
hazheng 80:c85cb93713b3 27
hazheng 80:c85cb93713b3 28 float m_speedRatio;
hazheng 80:c85cb93713b3 29 float m_lastAngle;
hazheng 80:c85cb93713b3 30 float m_lastAngleAbs;
hazheng 80:c85cb93713b3 31 float m_cornerRatio;
hazheng 80:c85cb93713b3 32 uint8_t m_lastLineFound;
hazheng 80:c85cb93713b3 33
hazheng 80:c85cb93713b3 34 void TerminateProcess();
hazheng 80:c85cb93713b3 35 };
hazheng 80:c85cb93713b3 36
hazheng 80:c85cb93713b3 37 #endif //RUNNING_STATE_H