Marco Oehler
ROME2 Lab3
Diff: StateMachine.h
- Revision:
- 0:6a4d3264c067
- Child:
- 1:ff05970bb9b0
diff -r 000000000000 -r 6a4d3264c067 StateMachine.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/StateMachine.h Tue Mar 24 08:39:54 2020 +0000
@@ -0,0 +1,66 @@
+/*
+ * StateMachine.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef STATE_MACHINE_H_
+#define STATE_MACHINE_H_
+
+#include <cstdlib>
+#include <mbed.h>
+#include "Controller.h"
+#include "IRSensor.h"
+
+/**
+ * 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.
+ */
+class StateMachine {
+
+ public:
+
+ static const int ROBOT_OFF = 0; // discrete states of this state machine
+ static const int MOVE_FORWARD = 1;
+ static const int TURN_LEFT = 2;
+ static const int TURN_RIGHT = 3;
+ static const int SLOWING_DOWN = 4;
+
+ 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);
+ virtual ~StateMachine();
+ int getState();
+
+ private:
+
+ static const float PERIOD; // period of task in [s]
+ static const float DISTANCE_THRESHOLD; // minimum allowed distance to obstacle in [m]
+ static const float TRANSLATIONAL_VELOCITY; // translational velocity in [m/s]
+ static const float ROTATIONAL_VELOCITY; // rotational velocity in [rad/s]
+
+ 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;
+ int state;
+ int buttonNow;
+ int buttonBefore;
+ Ticker ticker;
+
+ void run();
+};
+
+#endif /* STATE_MACHINE_H_ */
+