26 lines
653 B
C++
26 lines
653 B
C++
#include "Motor.h"
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#include <time.h>
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Motor::Motor() { type = (int)Thing::UncontrolledMotorType; }
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float Motor::GetSpeed() { return this->currentTargetSpeed; }
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void Motor::SetSpeed(float targetSpeed) {
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this->currentTargetSpeed = targetSpeed;
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}
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bool Motor::Drive(float distance) {
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if (!this->driving) {
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this->startTime = time(NULL);
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this->targetDistance = distance >= 0 ? distance : -distance;
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this->driving = true;
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}
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double duration = difftime(time(NULL), this->startTime);
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if (duration >= this->targetDistance) {
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this->driving = false;
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return true;
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}
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SetSpeed(distance < 0 ? -1 : 1); // max speed
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return false;
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} |