Diff: StateMachine.h

Revision:

41:7484471403aa

Parent:

40:924bdbc33391

Child:

42:d2d2db5974c9

--- a/StateMachine.h	Wed May 11 09:42:50 2022 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,71 +0,0 @@
-/*
- * 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_ */