27 lines
692 B
C++
27 lines
692 B
C++
#ifndef CALIBRATION_H
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#define CALIBRATION_H
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include <atomic>
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#include "encoder.hpp"
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class Calibration {
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public:
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static void init();
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static bool beginDownwardCalib(Encoder& topEnc);
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static bool completeCalib(Encoder& topEnc);
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static int32_t convertToTicks(uint8_t appPos);
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static uint8_t convertToAppPos(int32_t ticks);
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static bool getCalibrated() {return calibrated;}
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static bool clearCalibrated();
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static std::atomic<int32_t> DownTicks;
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static std::atomic<int32_t> UpTicks;
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private:
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static std::atomic<bool> calibrated;
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};
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extern TaskHandle_t calibTaskHandle;
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bool calibrate();
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#endif |