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Copied LineFollower App; renamed it SensorFusion
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| /* MIT License | ||
| * | ||
| * Copyright (c) 2023 Andreas Merkle <web@blue-andi.de> | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| * of this software and associated documentation files (the "Software"), to deal | ||
| * in the Software without restriction, including without limitation the rights | ||
| * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| * copies of the Software, and to permit persons to whom the Software is | ||
| * furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in all | ||
| * copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| * SOFTWARE. | ||
| */ | ||
|
|
||
| /******************************************************************************* | ||
| DESCRIPTION | ||
| *******************************************************************************/ | ||
| /** | ||
| * @brief LineFollower application | ||
| * @author Andreas Merkle <web@blue-andi.de> | ||
| */ | ||
|
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| /****************************************************************************** | ||
| * Includes | ||
| *****************************************************************************/ | ||
| #include "App.h" | ||
| #include "StartupState.h" | ||
| #include <Board.h> | ||
| #include <Speedometer.h> | ||
| #include <DifferentialDrive.h> | ||
| #include <Odometry.h> | ||
| #include <Util.h> | ||
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| /****************************************************************************** | ||
| * Compiler Switches | ||
| *****************************************************************************/ | ||
|
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| /****************************************************************************** | ||
| * Macros | ||
| *****************************************************************************/ | ||
|
|
||
| /****************************************************************************** | ||
| * Types and classes | ||
| *****************************************************************************/ | ||
|
|
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| /****************************************************************************** | ||
| * Prototypes | ||
| *****************************************************************************/ | ||
|
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| /****************************************************************************** | ||
| * Local Variables | ||
| *****************************************************************************/ | ||
|
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| /****************************************************************************** | ||
| * Public Methods | ||
| *****************************************************************************/ | ||
|
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| void App::setup() | ||
| { | ||
| Serial.begin(SERIAL_BAUDRATE); | ||
| Board::getInstance().init(); | ||
| m_systemStateMachine.setState(&StartupState::getInstance()); | ||
| m_controlInterval.start(DIFFERENTIAL_DRIVE_CONTROL_PERIOD); | ||
| } | ||
|
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| void App::loop() | ||
| { | ||
| Speedometer::getInstance().process(); | ||
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| if (true == m_controlInterval.isTimeout()) | ||
| { | ||
| /* The differential drive control needs the measured speed of the | ||
| * left and right wheel. Therefore it shall be processed after | ||
| * the speedometer. | ||
| */ | ||
| DifferentialDrive::getInstance().process(DIFFERENTIAL_DRIVE_CONTROL_PERIOD); | ||
|
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| /* The odometry unit needs to detect motor speed changes to be able to | ||
| * calculate correct values. Therefore it shall be processed right after | ||
| * the differential drive control. | ||
| */ | ||
| Odometry::getInstance().process(); | ||
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| m_controlInterval.restart(); | ||
| } | ||
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| m_systemStateMachine.process(); | ||
| } | ||
|
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| /****************************************************************************** | ||
| * Protected Methods | ||
| *****************************************************************************/ | ||
|
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| /****************************************************************************** | ||
| * Private Methods | ||
| *****************************************************************************/ | ||
|
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| /****************************************************************************** | ||
| * External Functions | ||
| *****************************************************************************/ | ||
|
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| /****************************************************************************** | ||
| * Local Functions | ||
| *****************************************************************************/ |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,108 @@ | ||
| /* MIT License | ||
| * | ||
| * Copyright (c) 2023 Andreas Merkle <web@blue-andi.de> | ||
| * | ||
| * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| * of this software and associated documentation files (the "Software"), to deal | ||
| * in the Software without restriction, including without limitation the rights | ||
| * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| * copies of the Software, and to permit persons to whom the Software is | ||
| * furnished to do so, subject to the following conditions: | ||
| * | ||
| * The above copyright notice and this permission notice shall be included in all | ||
| * copies or substantial portions of the Software. | ||
| * | ||
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| * SOFTWARE. | ||
| */ | ||
|
|
||
| /******************************************************************************* | ||
| DESCRIPTION | ||
| *******************************************************************************/ | ||
| /** | ||
| * @brief LineFollower application | ||
| * @author Andreas Merkle <web@blue-andi.de> | ||
| * | ||
| * @addtogroup Application | ||
| * | ||
| * @{ | ||
| */ | ||
|
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| #ifndef APP_H | ||
| #define APP_H | ||
|
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| /****************************************************************************** | ||
| * Compile Switches | ||
| *****************************************************************************/ | ||
|
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| /****************************************************************************** | ||
| * Includes | ||
| *****************************************************************************/ | ||
| #include <StateMachine.h> | ||
| #include <SimpleTimer.h> | ||
| #include <Arduino.h> | ||
|
|
||
| /****************************************************************************** | ||
| * Macros | ||
| *****************************************************************************/ | ||
|
|
||
| /****************************************************************************** | ||
| * Types and Classes | ||
| *****************************************************************************/ | ||
|
|
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| /** The line follower application. */ | ||
| class App | ||
| { | ||
| public: | ||
| /** | ||
| * Construct the line follower application. | ||
| */ | ||
| App() : m_systemStateMachine(), m_controlInterval() | ||
| { | ||
| } | ||
|
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| /** | ||
| * Destroy the line follower application. | ||
| */ | ||
| ~App() | ||
| { | ||
| } | ||
|
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| /** | ||
| * Setup the application. | ||
| */ | ||
| void setup(); | ||
|
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| /** | ||
| * Process the application periodically. | ||
| */ | ||
| void loop(); | ||
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| private: | ||
| /** Differential drive control period in ms. */ | ||
| static const uint32_t DIFFERENTIAL_DRIVE_CONTROL_PERIOD = 5U; | ||
|
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| /** Baudrate for Serial Communication */ | ||
| static const uint32_t SERIAL_BAUDRATE = 115200U; | ||
|
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| /** The system state machine. */ | ||
| StateMachine m_systemStateMachine; | ||
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| /** Timer used for differential drive control processing. */ | ||
| SimpleTimer m_controlInterval; | ||
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| App(const App& app); | ||
| App& operator=(const App& app); | ||
| }; | ||
|
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| /****************************************************************************** | ||
| * Functions | ||
| *****************************************************************************/ | ||
|
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| #endif /* APP_H */ | ||
| /** @} */ |
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