inspection_functions.hpp

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#ifndef INSPECTION_FUNCTIONS_HPP
#define INSPECTION_FUNCTIONS_HPP
 
#define MAX_THROTTLE (1.0)
#define MAX_ANGLE 0.34  // 22.5 degrees in rad
 
#include <chrono>
#include <cmath>
#include <functional>
#include <memory>
#include <string>
 
constexpr double WHEELS_STOPPED_THRESHOLD = 0.2;
 
class InspectionFunctions {
public:
  // default to EBS test values
  double max_angle_ = MAX_ANGLE;
  double ideal_velocity_ = 2.0;
  double turning_period_ = 4.0;
  double wheel_radius_ = 0.254;
  double gain_ = 0.05;
  double finish_time_ = 26.0;
  double current_goal_velocity_ = 1.0;
  bool start_and_stop_ = false;
 
  bool stop_oscilating_ = false;
 
  double calculate_steering(double time) const;
 
  double calculate_throttle(double current_velocity) const;
 
  double rpm_to_velocity(double rpm) const;
 
  void redefine_goal_velocity(double current_velocity);
 
  double throttle_to_adequate_range(double throttle) const;
 
  InspectionFunctions();
 
  InspectionFunctions(double max_angle, double turning_period, double wheel_radius,
                      double finish_time, bool start_and_stop, double gain = 0.0,
                      double ideal_velocity = 0.0);
};
 
#endif  // INSPECTION_FUNCTIONS_HPP