33 lines
871 B
C++
33 lines
871 B
C++
#pragma once
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#include "Thing.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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class DifferentialDrive : public Thing {
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public:
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DifferentialDrive(Participant* participant);
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void SetDimensions(float wheelDiameter, float wheelSeparation);
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void SetMotors(Thing* leftWheel, Thing* rightWheel);
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void SetLeftWheelVelocity(float angularSpeed);
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void SetRightWheelVelocity(float angularSpeed);
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virtual void Update(unsigned long currentMs) override;
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protected:
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/// @brief The radius of a wheel in meters
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float wheelRadius = 1.0f;
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/// @brief The distance between the wheels in meters
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float wheelSeparation = 1.0f;
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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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Thing* leftWheel = nullptr;
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Thing* rightWheel = nullptr;
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};
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} // namespace RoboidControl
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