File content as of revision 6:48eeb41188dd:

#ifndef _STATE_H_
#define _STATE_H_

#include <cmath>
#include "mbed.h"
#include "MaxonESCON.h"
#include "RobotControl.h"
#include "Task.h"
#include "HMC5883L.h"
#include "HMC6352.h"
#include "defines.h"

/**
 * @author Christian Burri
 *
 * @section LICENSE
 *
 * Copyright &copy; 2013 HSLU Pren Team #1 Cruising Crêpe
 * All rights reserved.
 *
 * @section DESCRIPTION
 *
 * State is the main mechanism for communicating current realtime system state to
 * the rest of the system for logging etc.
 *
 */

class State : public Task
{

private:

    state_t* s;
    RobotControl*       robotControl;
    MaxonESCON*         motorControllerLeft;
    MaxonESCON*         motorControllerRight;
    //  HMC6352*            compass;
    AnalogIn*           battery;
    Timer               timer;
    float               period;
    //float               magout[3];

public:

    /**
     * Creates a robot control object and initializes all private state variables.
     * @param s struct to read and write the state
     * @param robotControl Object to read the state
     * @param motorControllerLeft a reference to the servo drive for the left motor
     * @param motorControllerRight a reference to the servo drive for the right motor
     * @param compass Modul HMC5883L
     * @param battery Analog Input Battery Voltage input
     * @param period the sampling period of the run loop of this controller, given in [s]
     */
    State(state_t* s,
          RobotControl* robotControl,
          MaxonESCON* motorControllerLeft,
          MaxonESCON* motorControllerRight,
          /*HMC6352* compass,*/
          AnalogIn* battery,
          float period);

    /**
     * Destructor of the Object to destroy the Object.
     **/
    virtual     ~State();

    /**
     * Initzialize the File. Open the File plots.txt and set the title at first line.
     */
    void initPlotFile(void);

    /**
     * Save the char to the file.
     * For example at the end.
     * Don't forget the \n at first.
     */
    void savePlotText(char text[]);

    /**
     * Close the File.
     */
    void closePlotFile(void);

    /**
     * Return the Battery voltage
     * state variables.
     * @return Batterie Voltage [V]
     */
    float readBattery();

    /**
     * Starts the timer from zero.
     * The timer is for the logging Time.
     */
    void startTimerFromZero();

    /**
     * Save the new state to a new line.
     */
    void savePlotFile(state_t s);

    void        run();

private:

    void setBatteryBit();

    void setEnableLeftBit();

    void setEnableRightBit();
};

#endif