CanListener.h

Go to the documentation of this file.

#ifndef __CAN_LISTENER__
#define __CAN_LISTENER__

#include "RobotState.h"

class CanListener
{
 private:

    //Variables
    //Current RoboterState.
    RobotState *state;
    double impulses_per_mm_left;
    double impulses_per_mm_right;
    double wheel_distance;
    double left_average;
    double right_average;
    //Average over X succressive measures.
    int average_size;
    double left_velocity_average[50];
    double right_velocity_average[50];
    int counter;

    void initalize();
    geometry_msgs::TransformStamped getOdomTF(ros::Time current_time);
    nav_msgs::Odometry getOdomMsg(ros::Time current_time);
    bool gettingData();
    int overflowDetection(int ticks, int ticks_old);
    void movingForward(double d, double d_time);
    void turningInPlace(double t, double d_time);
    void otherMovement(double d, double t, double d_time);
    double calculateAverage(double velocity_average[], double velocity);

public:
    CanListener(RobotState *state):state(state) {};
    void run();

    double get_velocity_right();
    double get_velocity_left();

    struct can_frame frame;
};

#endif