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

Committer:
hazheng
Date:
2017-04-18
Branch:
Drift
Revision:
85:f3911aab41d9
Parent:
80:c85cb93713b3
Child:
86:51048c1f132f

File content as of revision 85:f3911aab41d9:

#pragma once
#ifndef RUNNING_STATE_H
#define RUNNING_STATE_H

#include <mbed.h>
#include "States.h"

class RunningState : public States
{
public:
    RunningState();
    ~RunningState();
    
    virtual void DrawUserInterface();
    
    virtual void Update(float deltaTime);
    
    virtual uint8_t HasTouchPosFunction() const;
    
    virtual uint8_t HasTouchIrqFunction() const;
    
    virtual void TouchPosCallback(int16_t x, int16_t y);
    
    virtual void TouchIrqCallback();
    
private:
    
    float m_speedRatio;
    float m_lastAngle;
    float m_lastAngleAbs;
    float m_cornerRatio;
    uint8_t m_lastLineFound;
    volatile uint8_t m_shouldTerminate;
    
    void TerminateProcess();
};

#endif //RUNNING_STATE_H