4 #include "ComponentData.h"
42 typedef enum ClimbState
50 typedef enum humanState
62 humanState getDesiredClimbingStep();
63 void setDesiredClimbingStep(humanState newState);
64 bool shouldContinueClimbing();
65 bool shouldForceContinueClimbing();
66 void setShouldContinueClimbing(
bool shouldContinue);
67 void setShouldForceContinueClimbing(
bool shouldContinue);
69 bool shouldPotentiallyAbort();
70 void setShouldPotentiallyAbort(
bool shouldAbort);
77 void changeArmState();
79 bool shouldChangeAngleState();
80 void changeAngleState();
82 bool shouldWinchPawlGoUp();
83 bool shouldWinchPawlGoDown();
86 void winchPawlInactive();
88 double winchPawlCurrent();
89 void setWinchPawlCurrent(
double value);
91 bool shouldPTOChangeDisengage();
92 bool shouldPTOChangeEngage();
98 bool shouldChangeHooks();
104 bool shouldArmsChange();
106 void setDesiredState(state target);
107 state getDesiredState();
108 void setCurrentState(state newState);
109 state getCurrentState();
110 void setWaitingState(state newState);
111 state getWaitingState();
112 void setShouldHooksChange(
bool hooksDown);
113 bool shouldHooksChange();
116 void setPTOEngaged(
bool engaged);
118 humanState m_desiredClimbingStep;
119 bool m_shouldContinueClimbing, m_shouldForceContinueClimbing;
121 bool m_shouldPotentiallyAbort;
123 bool m_shouldWinchPawlGoUp;
124 bool m_shouldWinchPawlGoDown;
126 bool m_shouldPTOEngage;
127 bool m_shouldPTODisEngage;
133 bool m_shouldChangeArm;
135 bool m_shouldHooksChange;
137 double m_winchPawlCurrent;
139 state m_desiredState;
140 state m_currentState;
141 state m_waitingState;