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StateMachine Class Reference
This class implements a simple state machine for a mobile robot. More...
#include <StateMachine.h>
Public Member Functions | |
| StateMachine (Controller &controller, DigitalOut &enableMotorDriver, DigitalOut &led0, DigitalOut &led1, DigitalOut &led2, DigitalOut &led3, DigitalOut &led4, DigitalOut &led5, DigitalIn &button, IRSensor &irSensor0, IRSensor &irSensor1, IRSensor &irSensor2, IRSensor &irSensor3, IRSensor &irSensor4, IRSensor &irSensor5) | |
| Creates and initializes a state machine object. | |
| virtual | ~StateMachine () |
| Deletes the state machine object and releases all allocated resources. | |
| int | getState () |
| Gets the actual state of this state machine. | |
Detailed Description
This class implements a simple state machine for a mobile robot.
It allows to move the robot forward, and to turn left or right, depending on distance measurements, to avoid collisions with obstacles.
Definition at line 21 of file StateMachine.h.
Constructor & Destructor Documentation
| StateMachine | ( | Controller & | controller, |
| DigitalOut & | enableMotorDriver, | ||
| DigitalOut & | led0, | ||
| DigitalOut & | led1, | ||
| DigitalOut & | led2, | ||
| DigitalOut & | led3, | ||
| DigitalOut & | led4, | ||
| DigitalOut & | led5, | ||
| DigitalIn & | button, | ||
| IRSensor & | irSensor0, | ||
| IRSensor & | irSensor1, | ||
| IRSensor & | irSensor2, | ||
| IRSensor & | irSensor3, | ||
| IRSensor & | irSensor4, | ||
| IRSensor & | irSensor5 | ||
| ) |
Creates and initializes a state machine object.
Definition at line 20 of file StateMachine.cpp.
| ~StateMachine | ( | ) | [virtual] |
Deletes the state machine object and releases all allocated resources.
Definition at line 33 of file StateMachine.cpp.
Member Function Documentation
| int getState | ( | ) |
Gets the actual state of this state machine.
- Returns:
- the actual state as an int constant.
Definition at line 42 of file StateMachine.cpp.
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