Autonomous.h

#ifndef AUTONOMOUS_H
#define AUTONOMOUS_H

#include "DriveTrain.h"
//#include "Kicker.h"
#include "AutonomousKicker.h"
#include "Vacuum.h"

#define OVER_BUMP_DISTANCE (50.0)

#define AutoState AutoSM.AutoStateVariable

union AutonomousStateMachine_tag {
	char AutoStateVariable;
	struct Bits_typ{
		unsigned Bit7:1;
		unsigned Bit6:1;
		unsigned Bit5:1;
		unsigned Bit4:1;
		unsigned Bit3:1;
		unsigned Bit2:1;
		unsigned Bit1:1;
		unsigned Bit0:1;
	    } Bits;
};

class Autonomous {
	public:
		Autonomous();
		void Process();
		void SetKicker(AutonomousKicker *k);
		void SetDriveTrain(DriveTrain *dt);
		inline int  GetProgramNumber() { return 0; }
		inline int GetState() { return AutoState; }
		inline void ResetState() {AutoState = 0;
								  AutoDrive->ResetEncoders();
								  AutoState = 0;
								  iteration = 1; 
								  distance = 1; // Find the value to stick in here
								  heading = 0;
								  wantedTurn = 0;}
									
		void AutonomousStateMachine();
	private:
		int iteration;
		float distance; // Might need to change this datatype to a float.
		float heading; //This is the current angle
		float wantedTurn;
		
		
		
		AutonomousKicker		*AutoKicker;
		DriveTrain	*AutoDrive;
		Vacuum      *AutoVacuum;
		
		union AutonomousStateMachine_tag AutoSM;
		
		int level;
};

#endif // AUTONOMOUS_H