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/StateManager.h@100:ffbeefc9e218, 2017-04-20 (annotated)

Committer:
hazheng
Date:
Thu Apr 20 21:04:10 2017 +0000
Revision:
100:ffbeefc9e218
Parent:
95:676d829a0e3f 
Better version of Intersection detection.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hazheng 84:2c22d01e8ae9 1 /**
hazheng 84:2c22d01e8ae9 2 * @file StateManager.h
hazheng 84:2c22d01e8ae9 3 * @brief The header file for the state manager.
hazheng 84:2c22d01e8ae9 4 * @author Jordan Brack <jabrack@mix.wvu.edu>, Haofan Zheng <hazheng@mix.wvu.edu>
hazheng 84:2c22d01e8ae9 5 *
hazheng 84:2c22d01e8ae9 6 */
hazheng 80:c85cb93713b3 7 #pragma once
hazheng 80:c85cb93713b3 8 #ifndef STATE_MANAGER_H
hazheng 80:c85cb93713b3 9 #define STATE_MANAGER_H
hazheng 80:c85cb93713b3 10
hazheng 80:c85cb93713b3 11 #include <mbed.h>
hazheng 80:c85cb93713b3 12
hazheng 80:c85cb93713b3 13 class States;
hazheng 80:c85cb93713b3 14
hazheng 95:676d829a0e3f 15 #define STANDBY_STATE 0 /*!< @brief Standby State. ENUM for different states. It is used as input for state_manager_switch_state. */
hazheng 95:676d829a0e3f 16 #define RUNNING_STATE 1 /*!< @brief Running State. ENUM for different states. It is used as input for state_manager_switch_state. */
hazheng 95:676d829a0e3f 17 #define TESTING_STATE 2 /*!< @brief Testing State. ENUM for different states. It is used as input for state_manager_switch_state. */
hazheng 80:c85cb93713b3 18
hazheng 84:2c22d01e8ae9 19 /**
hazheng 84:2c22d01e8ae9 20 * @brief This function will be called on each tick in order to tick the current state.
hazheng 84:2c22d01e8ae9 21 * @param deltaTime The time interval between last tick and current tick.
hazheng 84:2c22d01e8ae9 22 */
hazheng 80:c85cb93713b3 23 void state_manager_update(float deltaTime);
hazheng 80:c85cb93713b3 24
hazheng 84:2c22d01e8ae9 25 /**
hazheng 84:2c22d01e8ae9 26 * @brief Switch the current state to a specific state. If the input is not valid, it will be switched to NULL state, which will do nothing.
hazheng 95:676d829a0e3f 27 * @param state The defined number that representing different states. Please refer to the definition above.
hazheng 84:2c22d01e8ae9 28 */
hazheng 82:992ba6f31e24 29 void state_manager_switch_state(uint8_t state);
hazheng 82:992ba6f31e24 30
hazheng 80:c85cb93713b3 31 #endif //STATE_MANAGER_H