SteeringTire.h

00001 #ifndef INCLUDED_STEERING_TIRE_H
00002 #define INCLUDED_STEERING_TIRE_H
00003 
00004 #include "Steering.h"
00005 #include <stdint.h>
00006 #include "mbed.h"
00007 class Command;
00008 class I2CMotor;
00009 
00010 class SteeringTire{
00011 public:
00012     SteeringTire( I2CMotor** tire );
00013     ~SteeringTire();
00014     void update( Steering::ActionType action, Command command );
00015     
00016 private:
00017     void updateMove( Command command );
00018     void updateRoll( Command command );
00019     void updateStop( Command command );
00020     void updateWaitServo( Command command );
00021 
00022     static const uint32_t mReleaseStopTime_ms[];
00023     static const float mBrakeReleaseThreshold;
00024     
00025     I2CMotor** mTire;
00026     
00027     bool mIsReleaseStop;
00028     Timer* mTimer;
00029     Steering::ActionType mPrevActionType;
00030 };
00031 
00032 #endif