55 lines
1.3 KiB
C++
55 lines
1.3 KiB
C++
#pragma once
|
|
#include "ControlledMotor.h"
|
|
#include "Placement.h"
|
|
#include "Quadcopter.h"
|
|
#include "Vector2.h"
|
|
|
|
#include <time.h>
|
|
|
|
class Propulsion {
|
|
public:
|
|
/// @brief Setup sensing
|
|
Propulsion();
|
|
|
|
void Update(float currentTimeMs);
|
|
|
|
void AddMotors(Placement* motors, unsigned int motorCount);
|
|
void AddQuadcopter(Quadcopter* quadcopter);
|
|
Quadcopter* GetQuadcopter();
|
|
|
|
unsigned int GetMotorCount();
|
|
Motor* GetMotor(unsigned int motorIx);
|
|
|
|
// Velocity control
|
|
void SetDiffDriveSpeed(float leftSpeed, float rightSpeed);
|
|
void SetDiffDriveVelocities(float leftVelocity, float rightVelocity);
|
|
|
|
void SetTwistSpeed(float forward, float yaw);
|
|
void SetTwistSpeed(float forward, float yaw, float pitch);
|
|
void SetTwistSpeed(Vector3 linear, float yaw);
|
|
void SetTwistVelocity(float forward, float yaw);
|
|
|
|
// Think: drones
|
|
void SetLinearSpeed(Vector3 direction,
|
|
float yawSpeed = 0.0F,
|
|
float rollSpeed = 0.0F);
|
|
|
|
// Position control (or actually, distance control)
|
|
bool Drive(Vector3 point, float rotation, float currentTimeMs);
|
|
|
|
float GetOdometer();
|
|
|
|
Placement* placement = nullptr;
|
|
unsigned int motorCount = 0;
|
|
|
|
protected:
|
|
Quadcopter* quadcopter = nullptr;
|
|
|
|
bool driving = false;
|
|
float targetDistance = 0;
|
|
bool hasOdometer = false;
|
|
float startOdometer;
|
|
time_t startTime;
|
|
float lastUpdateTime;
|
|
};
|