RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Extend Angle type usage

Browse Source
This commit is contained in:
Pascal Serrarens 2024-08-02 08:54:00 +02:00
parent 00f40fea98
commit 4b362fffa8
3 changed files with 19 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
AbsoluteEncoder.h
View File

@ -9,7 +9,7 @@ class AbsoluteEncoder {
public: public:
AbsoluteEncoder() {} AbsoluteEncoder() {}
virtual float GetActualAngle() = 0; virtual Angle GetActualAngle() = 0;
virtual float GetActualVelocity() = 0; virtual float GetActualVelocity() = 0;
}; };

8
ServoMotor.cpp
View File

@ -10,7 +10,7 @@ ServoMotor::ServoMotor()
this->hasTargetAngle = false; this->hasTargetAngle = false;
} }
void ServoMotor::SetTargetAngle(float angle) { void ServoMotor::SetTargetAngle(Angle angle) {
angle = Float::Clamp(angle, minAngle, maxAngle); angle = Float::Clamp(angle, minAngle, maxAngle);
if (maxVelocity == 0.0F || hasTargetAngle == false) { if (maxVelocity == 0.0F || hasTargetAngle == false) {
@ -23,7 +23,7 @@ void ServoMotor::SetTargetAngle(float angle) {
this->hasTargetAngle = true; this->hasTargetAngle = true;
} }
float ServoMotor::GetTargetAngle() { Angle ServoMotor::GetTargetAngle() {
return this->targetAngle; return this->targetAngle;
} }
@ -76,9 +76,9 @@ void ServoMotor::Update(unsigned long currentTimeMs) {
SetAngle(targetAngle); SetAngle(targetAngle);
} else { } else {
if (deltaAngle < 0) if (deltaAngle < 0)
limitedTargetAngle -= angleStep; limitedTargetAngle = limitedTargetAngle - angleStep;
else else
limitedTargetAngle += angleStep; limitedTargetAngle = limitedTargetAngle + angleStep;
} }
SetAngle(limitedTargetAngle); SetAngle(limitedTargetAngle);

14
ServoMotor.h
View File

@ -10,14 +10,14 @@ public:
ServoMotor(); ServoMotor();
Vector3 rotationAxis = Vector3::up; Vector3 rotationAxis = Vector3::up;
float minAngle = -90.0F; Angle minAngle = -90.0F;
float maxAngle = 90.0F; Angle maxAngle = 90.0F;
enum ControlMode { Position, Velocity }; enum ControlMode { Position, Velocity };
ControlMode controlMode = ControlMode::Position; ControlMode controlMode = ControlMode::Position;
virtual void SetTargetAngle(float angle); virtual void SetTargetAngle(Angle angle);
virtual float GetTargetAngle(); virtual Angle GetTargetAngle();
virtual void SetMaximumVelocity(float maxVelocity); virtual void SetMaximumVelocity(float maxVelocity);
@ -28,16 +28,16 @@ public:
protected: protected:
bool hasTargetAngle = false; bool hasTargetAngle = false;
float targetAngle = 0.0F; Angle targetAngle = 0.0F;
float maxVelocity = 0.0F; float maxVelocity = 0.0F;
float targetVelocity = 0.0F; float targetVelocity = 0.0F;
float limitedTargetAngle = 0.0F; Angle limitedTargetAngle = 0.0F;
float lastUpdateTimeMs = 0.0F; float lastUpdateTimeMs = 0.0F;
virtual void SetAngle(float angle) = 0; virtual void SetAngle(Angle angle) = 0;
}; };
} // namespace RoboidContol } // namespace RoboidContol