Added initial BB2B example

CMakeLists.txt

@@ -5,8 +5,9 @@ if(ESP_PLATFORM)
         INCLUDE_DIRS "."
     )
 else() 
-    project(RoboidCOntrol)
+    project(RoboidControl)
     add_subdirectory(LinearAlgebra)
+    add_subdirectory(Examples)
 
     set(CMAKE_CXX_STANDARD 17)      # Enable c++11 standard
     set(CMAKE_POSITION_INDEPENDENT_CODE ON)

Examples/BB2B.cpp

@@ -0,0 +1,41 @@
+#include <iostream>
+
+#include "Thing.h"
+#include "Things/DifferentialDrive.h"
+#include "Things/TouchSensor.h"
+
+using namespace RoboidControl;
+
+void CollisionSteering();
+
+DifferentialDrive* bb2b = nullptr;
+TouchSensor* touchLeft = nullptr;
+TouchSensor* touchRight = nullptr;
+
+int main() {
+  bb2b = new DifferentialDrive();
+
+  touchLeft = new TouchSensor();
+  touchLeft->SetParent(bb2b);
+
+  touchRight = new TouchSensor();
+  touchRight->SetParent(bb2b);
+
+  while (true) {
+    CollisionSteering();
+  }
+
+  return 0;
+}
+
+void CollisionSteering() {
+  if (touchLeft->touchedSomething)
+    bb2b->SetWheelVelocity(bb2b->rightWheel, -0.5f);
+  else
+    bb2b->SetWheelVelocity(bb2b->rightWheel, 0.5f);
+
+  if (touchRight->touchedSomething)
+    bb2b->SetWheelVelocity(bb2b->leftWheel, -0.5f);
+  else
+    bb2b->SetWheelVelocity(bb2b->leftWheel, 0.5f);
+}

Examples/CMakeLists.txt

@@ -0,0 +1,22 @@
+# examples/CMakeLists.txt
+
+# Specify the minimum CMake version
+cmake_minimum_required(VERSION 3.10)
+
+# Specify the path to the main project directory
+set(MAIN_PROJECT_DIR "${CMAKE_SOURCE_DIR}/..")
+
+# Set the project name
+project(Examples)
+
+include_directories(..)
+
+# Add the executable for the main project
+#add_executable(MainExecutable ${SOURCES})
+# Find the main project library (assuming it's defined in the root CMakeLists.txt)
+#find_package(RoboidControl REQUIRED)  # Replace MyLibrary with your actual library name
+
+# Add example executables
+add_executable(BB2B BB2B.cpp)
+target_link_libraries(BB2B RoboidControl)  # Link against your library
+

Things/DifferentialDrive.cpp

@@ -2,14 +2,18 @@
 
 namespace RoboidControl {
 
-RoboidControl::DifferentialDrive::DifferentialDrive(Participant* participant) : Thing(participant) {
+RoboidControl::DifferentialDrive::DifferentialDrive(Participant* participant)
+    : Thing(participant) {
   // this->leftWheel = new Thing(participant);
   // this->rightWheel = new Thing(participant);
 }
 
-void DifferentialDrive::SetDimensions(float wheelDiameter, float wheelSeparation) {
-  this->wheelRadius = wheelDiameter > 0 ? wheelDiameter / 2 : -wheelDiameter / 2;
-  this->wheelSeparation = wheelSeparation > 0 ? wheelSeparation : -wheelSeparation;
+void DifferentialDrive::SetDimensions(float wheelDiameter,
+                                      float wheelSeparation) {
+  this->wheelRadius =
+      wheelDiameter > 0 ? wheelDiameter / 2 : -wheelDiameter / 2;
+  this->wheelSeparation =
+      wheelSeparation > 0 ? wheelSeparation : -wheelSeparation;
   this->rpsToMs = wheelDiameter * Passer::LinearAlgebra::pi;
 
   float distance = this->wheelSeparation / 2;
@@ -30,6 +34,10 @@ void DifferentialDrive::SetMotors(Thing* leftWheel, Thing* rightWheel) {
     this->rightWheel->SetPosition(Spherical(distance, Direction::right));
 }
 
+void DifferentialDrive::SetLeftWheelVelocity(float angularSpeed) {}
+
+void DifferentialDrive::SetRightWheelVelocity(float angularSpeed) {}
+
 void DifferentialDrive::Update(unsigned long currentMs) {
   // this assumes forward velocity only....
   float linearVelocity = this->GetLinearVelocity().distance;
@@ -41,16 +49,22 @@ void DifferentialDrive::Update(unsigned long currentMs) {
     angularSpeed = -angularSpeed;
 
   // wheel separation can be replaced by this->leftwheel->position->distance
-  float speedLeft = (linearVelocity + angularSpeed * this->wheelSeparation / 2) / this->wheelRadius * Rad2Deg;
+  float speedLeft =
+      (linearVelocity + angularSpeed * this->wheelSeparation / 2) /
+      this->wheelRadius * Rad2Deg;
   if (this->leftWheel != nullptr)
     this->leftWheel->SetAngularVelocity(Spherical(speedLeft, Direction::left));
 
-  float speedRight = (linearVelocity - angularSpeed * this->wheelSeparation / 2) / this->wheelRadius * Rad2Deg;
+  float speedRight =
+      (linearVelocity - angularSpeed * this->wheelSeparation / 2) /
+      this->wheelRadius * Rad2Deg;
   if (this->rightWheel != nullptr)
-    this->rightWheel->SetAngularVelocity(Spherical(speedRight, Direction::right));
+    this->rightWheel->SetAngularVelocity(
+        Spherical(speedRight, Direction::right));
 
-    // std::cout << "lin. speed " << linearVelocity << "   ang. speed " << angularVelocity.distance << "   left wheel  "
-    //         << speedLeft << "   right wheel " << speedRight << "\n";
+  // std::cout << "lin. speed " << linearVelocity << "   ang. speed " <<
+  // angularVelocity.distance << "   left wheel  "
+  //         << speedLeft << "   right wheel " << speedRight << "\n";
 }
 
 }  // namespace RoboidControl

Things/DifferentialDrive.h

@@ -12,6 +12,9 @@ class DifferentialDrive : public Thing {
   void SetDimensions(float wheelDiameter, float wheelSeparation);
   void SetMotors(Thing* leftWheel, Thing* rightWheel);
 
+  void SetLeftWheelVelocity(float angularSpeed);
+  void SetRightWheelVelocity(float angularSpeed);
+
   virtual void Update(unsigned long currentMs) override;
 
  protected: