65 lines
1.7 KiB
C++
65 lines
1.7 KiB
C++
#pragma once
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#include "ControlledMotor.h"
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#include "Placement.h"
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// #include "Quadcopter.h"
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#include "Vector2.h"
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// #include <time.h>
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namespace Passer {
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namespace RoboidControl {
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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(float currentTimeMs);
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void AddMotors(Placement* motors, unsigned int motorCount);
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// void AddQuadcopter(Quadcopter* quadcopter);
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// Quadcopter* GetQuadcopter();
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unsigned int GetMotorCount();
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Motor* GetMotor(unsigned int motorIx);
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Placement* GetMotorPlacement(unsigned int motorIx);
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/// @brief Set the maximum linear speed.
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/// @param maxSpeed The new maximum linear speed
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/// For controlled motors, this is rpm.
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/// For calibrated controlled motors, this is m/s
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/// For uncontrolled motors this is a value between 0 and 1 where 1 is the
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/// maximum speed of the motor
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void SetMaxSpeed(float maxSpeed);
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// Velocity control
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virtual void SetTwistSpeed(float forward, float yaw = 0.0F); // 2D
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virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F); // 2D plus
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virtual void SetTwistSpeed(Vector3 linear,
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float yaw = 0.0F,
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float pitch = 0.0F,
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float roll = 0.0F); // 3D
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// Position control (or actually, distance control)
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bool Drive(Vector3 point, float rotation, float currentTimeMs);
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float GetOdometer();
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Placement* placement = nullptr;
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unsigned int motorCount = 0;
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protected:
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float maxSpeed = 1;
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bool driving = false;
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float targetDistance = 0;
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bool hasOdometer = false;
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float startOdometer;
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time_t startTime;
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float lastUpdateTime;
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};
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} // namespace RoboidControl
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} // namespace Passer
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using namespace Passer::RoboidControl; |