RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Removed arduino include

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This commit is contained in:
Pascal Serrarens 2024-11-29 09:48:56 +01:00
parent ba009f79f7
commit 0a4c90225b
1 changed files with 1 additions and 2 deletions
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3
Roboid.cpp
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@ -30,7 +30,6 @@ Roboid::Roboid(Propulsion *propulsion) : Roboid() {
propulsion->roboid = this; propulsion->roboid = this;
} }
#include <Arduino.h>
void Roboid::Update(unsigned long currentTimeMs) { void Roboid::Update(unsigned long currentTimeMs) {
if (perception != nullptr) if (perception != nullptr)
perception->Update(currentTimeMs); perception->Update(currentTimeMs);
@ -41,12 +40,12 @@ void Roboid::Update(unsigned long currentTimeMs) {
float deltaTime = (float)(currentTimeMs - lastUpdateTimeMs) / 1000; float deltaTime = (float)(currentTimeMs - lastUpdateTimeMs) / 1000;
this->linearVelocity = this->propulsion->GetVelocity(); this->linearVelocity = this->propulsion->GetVelocity();
this->angularVelocity = this->propulsion->GetAngularVelocity();
Spherical16 translation = Spherical16 translation =
this->orientation * this->linearVelocity * deltaTime; this->orientation * this->linearVelocity * deltaTime;
SetPosition(this->position + translation); SetPosition(this->position + translation);
this->angularVelocity = this->propulsion->GetAngularVelocity();
SwingTwist16 rotation = SwingTwist16 rotation =
SwingTwist16::AngleAxis(this->angularVelocity.distance * deltaTime, SwingTwist16::AngleAxis(this->angularVelocity.distance * deltaTime,
this->angularVelocity.direction); this->angularVelocity.direction);