Program Listing for File sti_fpattern_rotate_2.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
namespace sm_dance_bot
{
namespace f_pattern_states
{
// STATE DECLARATION
template <typename SS>
struct StiFPatternRotate2 : smacc2::SmaccState<StiFPatternRotate2<SS>, SS>
{
typedef SmaccState<StiFPatternRotate2<SS>, SS> TSti;
using TSti::context_type;
using TSti::SmaccState;
// TRANSITION TABLE
typedef mpl::list<
Transition<EvCbSuccess<CbAbsoluteRotate, OrNavigation>, StiFPatternForward2<SS>>,
Transition<EvCbFailure<CbAbsoluteRotate, OrNavigation>, StiFPatternRotate2<SS>, ABORT>
>reactions;
// STATE FUNCTIONS
static void staticConfigure()
{
double offset = 1.5; // for a better behaving
// float angle = 0;
// if (SS::direction() == TDirection::LEFT)
// angle = -90 - offset;
// else
// angle = 90 + offset;
//TSti::template configure_orthogonal<OrNavigation, CbRotate>(angle);
TSti::template configure_orthogonal<OrNavigation, CbAbsoluteRotate>(
0 + offset); // absolute horizontal
TSti::template configure_orthogonal<OrLED, CbLEDOff>();
TSti::template configure_orthogonal<OrNavigation, CbResumeSlam>();
}
void runtimeConfigure() {}
};
} // namespace f_pattern_states
} // namespace sm_dance_bot