Christian Burri
This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of
autonomous Robot Android
by 
Christian Burri
Diff: Task/Task.h
- Revision:
- 0:31f7be68e52d
- Child:
- 1:6cd533a712c6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Task/Task.h Thu Feb 07 17:43:19 2013 +0000
@@ -0,0 +1,77 @@
+#ifndef _TASK_H_
+#define _TASK_H_
+
+#include "mbed.h"
+
+/**
+ * @author Christian Burri
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2013 HSLU Pren Team #1 Cruising Crêpe
+ * All rights reserved.
+ * @section DESCRIPTION
+ * The <code>Task</code> class allows to install periodic, time-triggered
+ * tasks. An example of a simple user-defined task is given below:
+ * <pre><code>
+ * class MyTask : public Task {
+ * public:
+ * void run();
+ * };
+ *
+ * void MyTask::run() {
+ * <span style="color:#FF0000">// code to be executed periodically</span>
+ * }
+ * </code></pre>
+ * This task can then be created and started as follows:
+ * <pre><code>
+ * MyTask myTask(0.1); <span style="color:#FF0000">// period in seconds</span>
+ * myTask.start();
+ * ...
+ *
+ * myTask.stop();
+ * </code></pre>
+ */
+class Task
+{
+
+private:
+
+ /** specifiying the interval in seconds */
+ float period;
+ /** The Ticker interface is used to setup a recurring interrupt to repeatedly call a function at a specified rate. */
+ Ticker ticker;
+
+public:
+
+ /**
+ * Creates a task object with a given period.
+ * @param period the period of this task in seconds.
+ */
+ Task(float period);
+
+ virtual ~Task();
+
+ /**
+ * Gets the period of this task.
+ * @return the period in seconds.
+ */
+ float getPeriod();
+
+ /**
+ * Starts this task.
+ */
+ void start();
+
+ /**
+ * Stops this task.
+ */
+ void stop();
+
+ /**
+ * This method needs to be implemented by a user task.
+ */
+ virtual void run();
+};
+
+#endif