66 lines
2.3 KiB
C++
66 lines
2.3 KiB
C++
#pragma once
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#include "Thing.h"
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#include "Motor.h"
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namespace RoboidControl {
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/// @brief A thing which can move itself using a differential drive system
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///
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/// @sa @link https://en.wikipedia.org/wiki/Differential_wheeled_robot @endlink
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class DifferentialDrive : public Thing {
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public:
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/// @brief Create a new child differential drive
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/// @param parent The parent thing
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/// @param thingId The ID of the thing, leave out or set to zero to generate
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/// an ID
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DifferentialDrive(Thing* parent = Thing::LocalRoot());
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DifferentialDrive(Motor* leftMotor, Motor* rightMotor, Thing* parent = Thing::LocalRoot());
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/// @brief Configures the dimensions of the drive
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/// @param wheelDiameter The diameter of the wheels in meters
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/// @param wheelSeparation The distance between the wheels in meters
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///
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/// These values are used to compute the desired wheel speed from the set
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/// linear and angular velocity.
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/// @sa SetLinearVelocity SetAngularVelocity
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void SetDriveDimensions(float wheelDiameter, float wheelSeparation);
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// Motor& GetMotorLeft();
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// Motor& GetMotorRight();
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/// @brief Congures the motors for the wheels
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/// @param leftWheel The motor for the left wheel
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/// @param rightWheel The motor for the right wheel
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void SetMotors(Motor& leftMotor, Motor& rightMotor);
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/// @brief Directly specify the speeds of the motors
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/// @param speedLeft The speed of the left wheel in degrees per second.
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/// Positive moves the robot in the forward direction.
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/// @param speedRight The speed of the right wheel in degrees per second.
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/// Positive moves the robot in the forward direction.
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void SetWheelVelocity(float speedLeft, float speedRight);
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/// @copydoc RoboidControl::Thing::Update(unsigned long)
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virtual void Update(bool recursive = true) override;
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int GenerateBinary(char* bytes, unsigned char* ix) override;
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// virtual void ProcessBinary(char* bytes) override;
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/// @brief The left wheel
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Motor* leftWheel = nullptr;
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/// @brief The right wheel
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Motor* rightWheel = nullptr;
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protected:
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/// @brief The radius of a wheel in meters
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float wheelRadius = 0.0f;
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/// @brief The distance between the wheels in meters
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float wheelSeparation = 0.0f;
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/// @brief Convert revolutions per second to meters per second
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float rpsToMs = 1.0f;
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};
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} // namespace RoboidControl
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