testwheel.h
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00001 /*
00002  *  ART steering self-test
00003  *
00004  *  Copyright (C) 2008 Austin Robot Technology
00005  *
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id: testwheel.h 1161 2011-03-26 02:10:49Z jack.oquin $
00009  */
00010 
00011 
00038 #ifndef _TESTWHEEL_H_
00039 #define _TESTWHEEL_H_
00040 
00041 class devsteer;
00042 class DriverTimer;
00043 
00044 class testwheel
00045 {
00046 public:
00047 
00048   testwheel(const boost::shared_ptr<devsteer> &_dev);
00049   ~testwheel();
00050 
00051   int   Configure();
00052   int   Run(float steering_angle);
00053 
00054   // configuration options
00055 
00056  private:
00057 
00058   typedef enum
00059     {
00060       Begin,                            // begin wheel test
00061       Move,                             // turn wheel to test position
00062       Back,                             // turn wheel back
00063       Done                              // test completed
00064     } state_t;
00065 
00066   state_t state;                        // current state of test
00067   boost::shared_ptr<devsteer> dev;
00068   boost::shared_ptr<DriverTimer> timer;
00069 
00070   // configuration options
00071   bool  test_wheel;
00072   double test_angle;
00073   double timeout;
00074   double tolerance;
00075 
00076   float start_angle;
00077   float target_angle;
00078 };
00079 
00080 #endif // _TESTWHEEL_H_


art_servo
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Jan 3 2014 11:09:12