.. _program_listing_file_src_app.h:

Program Listing for File app.h
==============================

|exhale_lsh| :ref:`Return to documentation for file <file_src_app.h>` (``src/app.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // BSD 3-Clause License
   //
   // Copyright (c) 2023, Ekumen Inc.
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //
   // 1. Redistributions of source code must retain the above copyright notice, this
   //    list of conditions and the following disclaimer.
   //
   // 2. Redistributions in binary form must reproduce the above copyright notice,
   //    this list of conditions and the following disclaimer in the documentation
   //    and/or other materials provided with the distribution.
   //
   // 3. Neither the name of the copyright holder nor the names of its
   //    contributors may be used to endorse or promote products derived from
   //    this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   // FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   // DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   // SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   // CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   // OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   #pragma once
   
   #include <Adafruit_BNO055.h>
   
   #include "digital_out_arduino.h"
   #include "encoder.h"
   #include "interrupt_in_arduino.h"
   #include "motor.h"
   #include "pid.h"
   #include "pwm_out_arduino.h"
   #include "serial_stream_arduino.h"
   #include "shell.h"
   
   namespace andino {
   
   class App {
    public:
     App() = delete;
   
     static void setup();
   
     static void loop();
   
    private:
     static void adjust_motors_speed();
   
     static void stop_motors();
   
     static void cmd_unknown_cb(int argc, char** argv);
   
     static void cmd_read_analog_gpio_cb(int argc, char** argv);
   
     static void cmd_read_digital_gpio_cb(int argc, char** argv);
   
     static void cmd_read_encoders_cb(int argc, char** argv);
   
     static void cmd_reset_encoders_cb(int argc, char** argv);
   
     static void cmd_set_motors_speed_cb(int argc, char** argv);
   
     static void cmd_set_motors_pwm_cb(int argc, char** argv);
   
     static void cmd_set_pid_tuning_gains_cb(int argc, char** argv);
   
     static void cmd_get_is_imu_connected_cb(int argc, char** argv);
   
     static void cmd_read_encoders_and_imu_cb(int argc, char** argv);
   
     static SerialStreamArduino serial_stream_;
   
     static Shell shell_;
   
     static DigitalOutArduino left_motor_enable_digital_out_;
     static PwmOutArduino left_motor_forward_pwm_out_;
     static PwmOutArduino left_motor_backward_pwm_out_;
     static Motor left_motor_;
   
     static DigitalOutArduino right_motor_enable_digital_out_;
     static PwmOutArduino right_motor_forward_pwm_out_;
     static PwmOutArduino right_motor_backward_pwm_out_;
     static Motor right_motor_;
   
     static InterruptInArduino left_encoder_channel_a_interrupt_in_;
     static InterruptInArduino left_encoder_channel_b_interrupt_in_;
     static Encoder left_encoder_;
   
     static InterruptInArduino right_encoder_channel_a_interrupt_in_;
     static InterruptInArduino right_encoder_channel_b_interrupt_in_;
     static Encoder right_encoder_;
   
     static Pid left_pid_controller_;
     static Pid right_pid_controller_;
   
     static Adafruit_BNO055 bno055_imu_;
   
     static unsigned long last_pid_computation_;
   
     static unsigned long last_set_motors_speed_cmd_;
   
     static bool is_imu_connected;
   };
   
   }  // namespace andino