42 lines
1.2 KiB
C++
42 lines
1.2 KiB
C++
#include "Roboid.h"
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#include <Arduino.h>
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Roboid::Roboid() {
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this->configuration = nullptr;
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this->thingCount = 0;
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}
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Roboid::Roboid(Placement configuration[], unsigned int thingCount) {
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this->configuration = configuration;
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this->thingCount = thingCount;
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perception.AddSensors(configuration, thingCount);
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propulsion.AddMotors(configuration, thingCount);
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}
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bool Roboid::Drive(Waypoint* waypoint, float currentTimeMs) {
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bool finished = propulsion.Drive(waypoint->point, waypoint->rotation, currentTimeMs);
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return finished;
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}
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void Roboid::FollowTrajectory(Trajectory* trajectory) {
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this->trajectory = trajectory;
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this->waypointIx = 0;
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}
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void Roboid::Update(float currentTimeMs) {
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if (this->trajectory == nullptr)
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return;
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Waypoint* waypoint = &this->trajectory->waypoints[this->waypointIx];
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Serial.printf("Driving waypoints %d: %f %f\n", this->waypointIx,
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waypoint->point.z, waypoint->rotation);
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if (Drive(waypoint, currentTimeMs)) {
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this->waypointIx++;
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if (this->waypointIx == this->trajectory->waypointCount) {
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this->trajectory = nullptr;
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this->waypointIx = 0;
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// stop
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propulsion.SetTwistSpeed(0, 0);
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}
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}
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} |