97 lines
2.8 KiB
C++
97 lines
2.8 KiB
C++
#include "ServoMotor.h"
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#include "LinearAlgebra/FloatSingle.h"
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ServoMotor::ServoMotor() {
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this->type = Thing::ServoType;
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this->controlMode = ControlMode::Position;
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this->targetAngle = 0;
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this->hasTargetAngle = false;
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}
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void ServoMotor::SetTargetAngle(float angle) {
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angle = Float::Clamp(angle, minAngle, maxAngle);
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if (maxVelocity == 0.0F || hasTargetAngle == false) {
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SetAngle(angle);
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this->limitedTargetAngle = angle;
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} else if (angle != this->targetAngle) {
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// if the new target is the same, the limited angle is not overwritten
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this->limitedTargetAngle = this->targetAngle;
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}
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this->controlMode = ControlMode::Position;
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this->targetAngle = angle;
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this->hasTargetAngle = true;
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}
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float ServoMotor::GetTargetAngle() { return this->targetAngle; }
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void ServoMotor::SetMaximumVelocity(float maxVelocity) {
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this->maxVelocity = maxVelocity;
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}
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void ServoMotor::SetTargetVelocity(float targetVelocity) {
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targetVelocity =
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Float::Clamp(targetVelocity, -this->maxVelocity, maxVelocity);
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this->controlMode = ControlMode::Velocity;
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this->targetVelocity = targetVelocity;
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this->hasTargetAngle = false; // can't we use the controlMode for this?
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}
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float ServoMotor::GetTargetVelocity() { return this->targetVelocity; }
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void ServoMotor::Update(float currentTimeMs) {
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for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
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Thing *child = this->GetChild(childIx);
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if (child != nullptr && child->type == Thing::ServoType) {
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ServoMotor *servo = (ServoMotor *)child;
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servo->Update(currentTimeMs);
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}
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}
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if (this->lastUpdateTimeMs == 0 || currentTimeMs < this->lastUpdateTimeMs) {
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this->lastUpdateTimeMs = currentTimeMs;
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return;
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}
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float deltaTime = (currentTimeMs - this->lastUpdateTimeMs) / 1000.0F;
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// Position control
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if (controlMode == ControlMode::Position) {
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if (maxVelocity == 0.0F || hasTargetAngle == false) {
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this->lastUpdateTimeMs = currentTimeMs;
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return;
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} else {
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float angleStep = maxVelocity * deltaTime;
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float deltaAngle = this->targetAngle - this->limitedTargetAngle;
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float absDeltaAngle = (deltaAngle < 0) ? -deltaAngle : deltaAngle;
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if (absDeltaAngle < angleStep) {
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this->limitedTargetAngle = this->targetAngle;
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SetAngle(targetAngle);
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} else {
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if (deltaAngle < 0)
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limitedTargetAngle -= angleStep;
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else
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limitedTargetAngle += angleStep;
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}
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SetAngle(limitedTargetAngle);
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this->lastUpdateTimeMs = currentTimeMs;
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return;
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}
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// Velocity control
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} else {
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float newAngle = this->targetAngle + targetVelocity * deltaTime;
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newAngle = Float::Clamp(newAngle, minAngle, maxAngle);
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ServoMotor::SetTargetAngle(newAngle);
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SetAngle(newAngle);
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this->lastUpdateTimeMs = currentTimeMs;
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}
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} |