Diff: StateDefines/State.h

Revision:

0:31f7be68e52d

Child:

1:6cd533a712c6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StateDefines/State.h	Thu Feb 07 17:43:19 2013 +0000
@@ -0,0 +1,113 @@
+#ifndef _STATE_H_
+#define _STATE_H_
+
+#include <cmath>
+#include "mbed.h"
+#include "MaxonESCON.h"
+#include "RobotControl.h"
+#include "Task.h"
+#include "HMC5883L.h"
+#include "HMC6352.h"
+#include "defines.h"
+
+/**
+ * @author Christian Burri
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ *
+ * @section DESCRIPTION
+ *
+ * State is the main mechanism for communicating current realtime system state to
+ * the rest of the system for logging etc.
+ */
+
+class State : public Task
+{
+
+private:
+
+    state_t* s;
+    RobotControl*       robotControl;
+    MaxonESCON*         motorControllerLeft;
+    MaxonESCON*         motorControllerRight;
+    HMC6352*            compass;
+    AnalogIn*           battery;
+    Timer               timer;
+    float               period;
+
+    float               magout[3];
+
+
+
+public:
+
+
+    /**
+     * Creates a robot control object and initializes all private
+     * state variables.
+     * @param RobotControl Objekt to read the state.
+     * @param motorControllerLeft a reference to the servo drive for the left motor.
+     * @param motorControllerRight a reference to the servo drive for the right motor.
+     * @param compass Modul HMC5883L
+     * @param Analog Input Battery Voltage input
+     * @param period the sampling period of the run loop of this controller, given in [s].
+     */
+    State(state_t* s, RobotControl* robotControl, MaxonESCON* motorControllerLeft, MaxonESCON* motorControllerRight, HMC6352* compass, AnalogIn* battery, float period);
+
+    /**
+    * Destructor of the Object to destroy the Object.
+    **/
+    virtual     ~State();
+
+
+    /**
+     * Initzialize the File. Open the File plots.txt and set the title at first line
+     */
+    void initPlotFile(void);
+
+
+
+    /**
+    * Save the char to the file.
+    * For example at the end.
+    * Don't forget the \n at first.
+    */
+    void savePlotText(char text[]);
+
+
+    /**
+    * Close the File
+    */
+    void closePlotFile(void);
+
+
+    /**
+     * Return the Battery voltage
+     * state variables.
+     * @return Batterie Voltage [V]
+     */
+    float readBattery();
+
+    void startTimerFromZero();
+
+    /**
+    * Save the new state to a new line
+    */
+    void savePlotFile(state_t s);
+
+    void        run();
+
+
+private:
+
+    void setBatteryBit();
+
+    void setEnableLeftBit();
+
+    void setEnableRightBit();
+};
+
+#endif