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