45 lines
957 B
C++
45 lines
957 B
C++
#pragma once
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#include "ControlledMotor.h"
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namespace Passer {
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namespace RoboidContol {
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class ServoMotor : public Thing {
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public:
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ServoMotor();
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Vector3 rotationAxis = Vector3::up;
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Angle minAngle = -90.0F;
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Angle maxAngle = 90.0F;
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enum ControlMode { Position, Velocity };
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ControlMode controlMode = ControlMode::Position;
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virtual void SetTargetAngle(Angle angle);
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virtual Angle GetTargetAngle();
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virtual void SetMaximumVelocity(float maxVelocity);
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virtual void SetTargetVelocity(float velocity);
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virtual float GetTargetVelocity();
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virtual void Update(unsigned long currentTimeMs) override;
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protected:
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bool hasTargetAngle = false;
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Angle targetAngle = 0.0F;
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float maxVelocity = 0.0F;
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float targetVelocity = 0.0F;
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Angle limitedTargetAngle = 0.0F;
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float lastUpdateTimeMs = 0.0F;
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virtual void SetAngle(Angle angle) = 0;
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};
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} // namespace RoboidContol
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} // namespace Passer
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using namespace Passer::RoboidContol; |