Michael Ernst Peter / Mbed OS PM2_Example_ROME2_Robots

Example project

Dependencies:   PM2_Libary Eigen

StateMachine.h@39:f336caef17d9, 2022-05-10 (annotated)

Committer:
pmic
Date:
Tue May 10 14:11:06 2022 +0200
Revision:
39:f336caef17d9
Parent:
37:698d6b73b50c 
Version without StateMachine

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 37:698d6b73b50c 1 /*
pmic 37:698d6b73b50c 2 * StateMachine.h
pmic 37:698d6b73b50c 3 * Copyright (c) 2022, ZHAW
pmic 37:698d6b73b50c 4 * All rights reserved.
pmic 37:698d6b73b50c 5 */
pmic 37:698d6b73b50c 6
pmic 37:698d6b73b50c 7 #ifndef STATE_MACHINE_H_
pmic 37:698d6b73b50c 8 #define STATE_MACHINE_H_
pmic 37:698d6b73b50c 9
pmic 37:698d6b73b50c 10 #include <cstdlib>
pmic 37:698d6b73b50c 11 #include <mbed.h>
pmic 37:698d6b73b50c 12 #include "Controller.h"
pmic 37:698d6b73b50c 13 #include "IRSensor.h"
pmic 37:698d6b73b50c 14
pmic 37:698d6b73b50c 15 /**
pmic 37:698d6b73b50c 16 * This class implements a simple state machine for a mobile robot.
pmic 37:698d6b73b50c 17 * It allows to move the robot forward, and to turn left or right,
pmic 37:698d6b73b50c 18 * depending on distance measurements, to avoid collisions with
pmic 37:698d6b73b50c 19 * obstacles.
pmic 37:698d6b73b50c 20 */
pmic 37:698d6b73b50c 21 class StateMachine {
pmic 37:698d6b73b50c 22
pmic 37:698d6b73b50c 23 public:
pmic 37:698d6b73b50c 24
pmic 37:698d6b73b50c 25 static const int ROBOT_OFF = 0; // discrete states of this state machine
pmic 37:698d6b73b50c 26 static const int MOVE_FORWARD = 1;
pmic 37:698d6b73b50c 27 static const int TURN_LEFT = 2;
pmic 37:698d6b73b50c 28 static const int TURN_RIGHT = 3;
pmic 37:698d6b73b50c 29 static const int SLOWING_DOWN = 4;
pmic 37:698d6b73b50c 30
pmic 37:698d6b73b50c 31 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);
pmic 37:698d6b73b50c 32 virtual ~StateMachine();
pmic 37:698d6b73b50c 33 int getState();
pmic 37:698d6b73b50c 34
pmic 37:698d6b73b50c 35 private:
pmic 37:698d6b73b50c 36
pmic 37:698d6b73b50c 37 static const unsigned int STACK_SIZE = 4096; // stack size of thread, given in [bytes]
pmic 37:698d6b73b50c 38 static const float PERIOD; // period of task, given in [s]
pmic 37:698d6b73b50c 39
pmic 37:698d6b73b50c 40 static const float DISTANCE_THRESHOLD; // minimum allowed distance to obstacle in [m]
pmic 37:698d6b73b50c 41 static const float TRANSLATIONAL_VELOCITY; // translational velocity in [m/s]
pmic 37:698d6b73b50c 42 static const float ROTATIONAL_VELOCITY; // rotational velocity in [rad/s]
pmic 37:698d6b73b50c 43 static const float VELOCITY_THRESHOLD; // velocity threshold before switching off, in [m/s] and [rad/s]
pmic 37:698d6b73b50c 44
pmic 37:698d6b73b50c 45 Controller& controller;
pmic 37:698d6b73b50c 46 DigitalOut& enableMotorDriver;
pmic 37:698d6b73b50c 47 DigitalOut& led0;
pmic 37:698d6b73b50c 48 DigitalOut& led1;
pmic 37:698d6b73b50c 49 DigitalOut& led2;
pmic 37:698d6b73b50c 50 DigitalOut& led3;
pmic 37:698d6b73b50c 51 DigitalOut& led4;
pmic 37:698d6b73b50c 52 DigitalOut& led5;
pmic 37:698d6b73b50c 53 DigitalIn& button;
pmic 37:698d6b73b50c 54 IRSensor& irSensor0;
pmic 37:698d6b73b50c 55 IRSensor& irSensor1;
pmic 37:698d6b73b50c 56 IRSensor& irSensor2;
pmic 37:698d6b73b50c 57 IRSensor& irSensor3;
pmic 37:698d6b73b50c 58 IRSensor& irSensor4;
pmic 37:698d6b73b50c 59 IRSensor& irSensor5;
pmic 37:698d6b73b50c 60 int state;
pmic 37:698d6b73b50c 61 int buttonNow;
pmic 37:698d6b73b50c 62 int buttonBefore;
pmic 37:698d6b73b50c 63 ThreadFlag threadFlag;
pmic 37:698d6b73b50c 64 Thread thread;
pmic 37:698d6b73b50c 65 Ticker ticker;
pmic 37:698d6b73b50c 66
pmic 37:698d6b73b50c 67 void sendThreadFlag();
pmic 37:698d6b73b50c 68 void run();
pmic 37:698d6b73b50c 69 };
pmic 37:698d6b73b50c 70
pmic 37:698d6b73b50c 71 #endif /* STATE_MACHINE_H_ */