RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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This commit is contained in:
Pascal Serrarens 2023-11-21 14:38:45 +01:00
parent c2478ce057
commit 2ff984b5bc
2 changed files with 44 additions and 48 deletions
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25
Propulsion.cpp
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@ -1,25 +1,21 @@
#include "ControlledMotor.h"
#include "Propulsion.h"
#include "ControlledMotor.h"
#include "FloatSingle.h"
extern "C" {
#include "debug.h"
}
Propulsion::Propulsion() {
this->placement = nullptr;
this->motorCount = 0;
}
//void Propulsion::AddMotors(MotorPlacement* motors, unsigned int motorCount) {
// void Propulsion::AddMotors(MotorPlacement* motors, unsigned int motorCount) {
// this->palce = motors;
// this->motorCount = motorCount;
//}
// }
void Propulsion::AddMotors(Placement* things, unsigned int thingCount) {
//this->placement = motors;
//this->motorCount = motorCount;
// this->placement = motors;
// this->motorCount = motorCount;
this->motorCount = 0;
for (unsigned int thingIx = 0; thingIx < thingCount; thingIx++) {
Thing* thing = things[thingIx].thing;
@ -34,7 +30,6 @@ void Propulsion::AddMotors(Placement* things, unsigned int thingCount) {
if (thing->isMotor)
this->placement[motorIx++] = things[thingIx];
}
}
void Propulsion::AddQuadcopter(Quadcopter* quadcopter) {
@ -63,14 +58,14 @@ void Propulsion::Update() {
// lastMillis = curMillis;
for (unsigned int motorIx = 0; motorIx < this->motorCount; motorIx++) {
//Placement placement = placement[motorIx];
// Placement placement = placement[motorIx];
// placement.controlledMotor->Update(timeStep);
}
}
void Propulsion::SetDiffDriveSpeed(float leftSpeed, float rightSpeed) {
for (unsigned int motorIx = 0; motorIx < this->motorCount; motorIx++) {
Motor* motor = (Motor*) placement[motorIx].thing;
Motor* motor = (Motor*)placement[motorIx].thing;
if (motor == nullptr)
continue;
@ -84,10 +79,10 @@ void Propulsion::SetDiffDriveSpeed(float leftSpeed, float rightSpeed) {
void Propulsion::SetDiffDriveVelocities(float leftVelocity, float rightVelocity) {
for (unsigned int motorIx = 0; motorIx < this->motorCount; motorIx++) {
//Placement placement = placement[motorIx];
//if (placement.position.x < 0)
// Placement placement = placement[motorIx];
// if (placement.position.x < 0)
// placement.controlledMotor->SetTargetVelocity(leftVelocity);
//else if (placement.position.x > 0)
// else if (placement.position.x > 0)
// placement.controlledMotor->SetTargetVelocity(rightVelocity);
};
}

1
component.mk Normal file
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@ -0,0 +1 @@
COMPONENT_ADD_INCLUDEDIRS = ./VectorAlgebra/include