44 lines
1016 B
C++
44 lines
1016 B
C++
#pragma once
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#include "ControlledMotor.h"
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#include "Placement.h"
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#include "Vector2.h"
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#include <list>
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//struct MotorPlacement {
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// Motor* motor;
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// ControlledMotor* controlledMotor;
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// Vector2 position;
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//};
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class Propulsion {
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public:
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/// @brief Setup sensing
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Propulsion();
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void Update();
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//void AddMotors(MotorPlacement* motors, unsigned int motorCount);
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void AddMotors(Placement* motors, unsigned int motorCount);
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unsigned int GetMotorCount();
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Motor* GetMotor(unsigned int motorIx);
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void SetDiffDriveSpeed(float leftSpeed, float rightSpeed);
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void SetDiffDriveVelocities(float leftVelocity, float rightVelocity);
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void SetTwistSpeed(float forward, float yaw);
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void SetTwistSpeed(float forward, float yaw, float pitch);
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void SetTwistVelocity(float forward, float yaw);
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// Think: drones
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void SetLinearSpeed(Vector3 direction);
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protected:
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//unsigned long lastMillis;
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//MotorPlacement* motors = nullptr;
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Placement* placement = nullptr;
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unsigned int motorCount = 0;
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};
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