Diff: StateMachine.h

Revision:

37:698d6b73b50c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/StateMachine.h	Tue May 10 10:04:51 2022 +0200
@@ -0,0 +1,71 @@
+/*
+ * StateMachine.h
+ * Copyright (c) 2022, 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 unsigned int   STACK_SIZE = 4096;  // stack size of thread, given in [bytes]
+        static const float          PERIOD;             // period of task, given 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]
+        static const float  VELOCITY_THRESHOLD;         // velocity threshold before switching off, in [m/s] and [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;
+        ThreadFlag      threadFlag;
+        Thread          thread;
+        Ticker          ticker;
+        
+        void    sendThreadFlag();
+        void    run();
+};
+
+#endif /* STATE_MACHINE_H_ */