This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of autonomous Robot Android by
Task/Task.h@6:48eeb41188dd, 2013-03-23 (annotated)
- Committer:
- chrigelburri
- Date:
- Sat Mar 23 13:52:48 2013 +0000
- Revision:
- 6:48eeb41188dd
- Parent:
- 1:6cd533a712c6
- Child:
- 11:775ebb69d5e1
mit link und rechten Radradius
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chrigelburri | 0:31f7be68e52d | 1 | #ifndef _TASK_H_ |
chrigelburri | 0:31f7be68e52d | 2 | #define _TASK_H_ |
chrigelburri | 0:31f7be68e52d | 3 | |
chrigelburri | 0:31f7be68e52d | 4 | #include "mbed.h" |
chrigelburri | 0:31f7be68e52d | 5 | |
chrigelburri | 0:31f7be68e52d | 6 | /** |
chrigelburri | 0:31f7be68e52d | 7 | * @author Christian Burri |
chrigelburri | 0:31f7be68e52d | 8 | * |
chrigelburri | 0:31f7be68e52d | 9 | * @section LICENSE |
chrigelburri | 0:31f7be68e52d | 10 | * |
chrigelburri | 1:6cd533a712c6 | 11 | * Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe |
chrigelburri | 0:31f7be68e52d | 12 | * All rights reserved. |
chrigelburri | 6:48eeb41188dd | 13 | * |
chrigelburri | 0:31f7be68e52d | 14 | * @section DESCRIPTION |
chrigelburri | 0:31f7be68e52d | 15 | * The <code>Task</code> class allows to install periodic, time-triggered |
chrigelburri | 0:31f7be68e52d | 16 | * tasks. An example of a simple user-defined task is given below: |
chrigelburri | 0:31f7be68e52d | 17 | * <pre><code> |
chrigelburri | 0:31f7be68e52d | 18 | * class MyTask : public Task { |
chrigelburri | 0:31f7be68e52d | 19 | * public: |
chrigelburri | 0:31f7be68e52d | 20 | * void run(); |
chrigelburri | 0:31f7be68e52d | 21 | * }; |
chrigelburri | 0:31f7be68e52d | 22 | * |
chrigelburri | 0:31f7be68e52d | 23 | * void MyTask::run() { |
chrigelburri | 0:31f7be68e52d | 24 | * <span style="color:#FF0000">// code to be executed periodically</span> |
chrigelburri | 0:31f7be68e52d | 25 | * } |
chrigelburri | 0:31f7be68e52d | 26 | * </code></pre> |
chrigelburri | 0:31f7be68e52d | 27 | * This task can then be created and started as follows: |
chrigelburri | 0:31f7be68e52d | 28 | * <pre><code> |
chrigelburri | 0:31f7be68e52d | 29 | * MyTask myTask(0.1); <span style="color:#FF0000">// period in seconds</span> |
chrigelburri | 0:31f7be68e52d | 30 | * myTask.start(); |
chrigelburri | 0:31f7be68e52d | 31 | * ... |
chrigelburri | 0:31f7be68e52d | 32 | * |
chrigelburri | 0:31f7be68e52d | 33 | * myTask.stop(); |
chrigelburri | 0:31f7be68e52d | 34 | * </code></pre> |
chrigelburri | 0:31f7be68e52d | 35 | */ |
chrigelburri | 0:31f7be68e52d | 36 | class Task |
chrigelburri | 0:31f7be68e52d | 37 | { |
chrigelburri | 0:31f7be68e52d | 38 | |
chrigelburri | 0:31f7be68e52d | 39 | private: |
chrigelburri | 0:31f7be68e52d | 40 | |
chrigelburri | 0:31f7be68e52d | 41 | /** specifiying the interval in seconds */ |
chrigelburri | 0:31f7be68e52d | 42 | float period; |
chrigelburri | 6:48eeb41188dd | 43 | /** The Ticker interface is used to setup a recurring interrupt to |
chrigelburri | 6:48eeb41188dd | 44 | * repeatedly call a function at a specified rate. |
chrigelburri | 6:48eeb41188dd | 45 | */ |
chrigelburri | 0:31f7be68e52d | 46 | Ticker ticker; |
chrigelburri | 0:31f7be68e52d | 47 | |
chrigelburri | 0:31f7be68e52d | 48 | public: |
chrigelburri | 0:31f7be68e52d | 49 | |
chrigelburri | 6:48eeb41188dd | 50 | /** |
chrigelburri | 0:31f7be68e52d | 51 | * Creates a task object with a given period. |
chrigelburri | 0:31f7be68e52d | 52 | * @param period the period of this task in seconds. |
chrigelburri | 0:31f7be68e52d | 53 | */ |
chrigelburri | 0:31f7be68e52d | 54 | Task(float period); |
chrigelburri | 6:48eeb41188dd | 55 | |
chrigelburri | 0:31f7be68e52d | 56 | virtual ~Task(); |
chrigelburri | 0:31f7be68e52d | 57 | |
chrigelburri | 0:31f7be68e52d | 58 | /** |
chrigelburri | 0:31f7be68e52d | 59 | * Gets the period of this task. |
chrigelburri | 0:31f7be68e52d | 60 | * @return the period in seconds. |
chrigelburri | 0:31f7be68e52d | 61 | */ |
chrigelburri | 0:31f7be68e52d | 62 | float getPeriod(); |
chrigelburri | 0:31f7be68e52d | 63 | |
chrigelburri | 0:31f7be68e52d | 64 | /** |
chrigelburri | 0:31f7be68e52d | 65 | * Starts this task. |
chrigelburri | 0:31f7be68e52d | 66 | */ |
chrigelburri | 0:31f7be68e52d | 67 | void start(); |
chrigelburri | 0:31f7be68e52d | 68 | |
chrigelburri | 0:31f7be68e52d | 69 | /** |
chrigelburri | 0:31f7be68e52d | 70 | * Stops this task. |
chrigelburri | 0:31f7be68e52d | 71 | */ |
chrigelburri | 0:31f7be68e52d | 72 | void stop(); |
chrigelburri | 0:31f7be68e52d | 73 | |
chrigelburri | 0:31f7be68e52d | 74 | /** |
chrigelburri | 0:31f7be68e52d | 75 | * This method needs to be implemented by a user task. |
chrigelburri | 0:31f7be68e52d | 76 | */ |
chrigelburri | 0:31f7be68e52d | 77 | virtual void run(); |
chrigelburri | 0:31f7be68e52d | 78 | }; |
chrigelburri | 0:31f7be68e52d | 79 | |
chrigelburri | 0:31f7be68e52d | 80 | #endif |