testwheel.h

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/*
 *  ART steering self-test
 *
 *  Copyright (C) 2008 Austin Robot Technology
 *
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: testwheel.h 1161 2011-03-26 02:10:49Z jack.oquin $
 */


#ifndef _TESTWHEEL_H_
#define _TESTWHEEL_H_

class devsteer;
class DriverTimer;

class testwheel
{
public:

  testwheel(const boost::shared_ptr<devsteer> &_dev);
  ~testwheel();

  int   Configure();
  int   Run(float steering_angle);

  // configuration options

 private:

  typedef enum
    {
      Begin,                            // begin wheel test
      Move,                             // turn wheel to test position
      Back,                             // turn wheel back
      Done                              // test completed
    } state_t;

  state_t state;                        // current state of test
  boost::shared_ptr<devsteer> dev;
  boost::shared_ptr<DriverTimer> timer;

  // configuration options
  bool  test_wheel;
  double test_angle;
  double timeout;
  double tolerance;

  float start_angle;
  float target_angle;
};

#endif // _TESTWHEEL_H_