wb_thread.h

#ifndef WB_THREAD_H
#define WB_THREAD_H
 
#include "wb_const.h"
 
#include "WheelMotor.h"
#include "Codewheel.h"
#include "Odometry.h"
#include "PID.h"
#include "VelocityController.h"
#include "PositionController.h"
#include "PurePursuit.h"
#include "TurnOnTheSpot.h"
 
#include "mathutils.h"
 
// Load the different modules
 
extern DRV8844 driver;
extern WheelMotor leftWheel;
extern WheelMotor rightWheel;
 
extern TIM_HandleTypeDef htim23;//Right
extern TIM_HandleTypeDef htim24;//Left
 
extern Codewheel leftCodewheel;
extern Codewheel rightCodewheel;
 
extern Odometry odometry;
 
extern VelocityController velocityControl;
#if ENABLE_VELOCITYCONTROLLER_LOGS
extern VelocityControllerLogs controllerLogs;
#endif // ENABLE_VELOCITYCONTROLLER_LOGS
 
extern PID linVelPID;
extern PID angVelPID;
 
extern PositionController positionControl;
 
extern PurePursuit purePursuit;
extern TurnOnTheSpot turnOnTheSpot;
 
void wb_setup();
void wb_loop(void *pvParameters);
 
#endif //WB_THREAD_H