24 lines
602 B
C++
24 lines
602 B
C++
#include "RelativeEncoder.h"
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namespace RoboidControl {
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RelativeEncoder::RelativeEncoder(Participant* owner)
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: Thing(owner, Type::IncrementalEncoder) {}
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RelativeEncoder::RelativeEncoder(Thing& parent)
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: Thing(Type::IncrementalEncoder, parent) {}
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float RelativeEncoder::GetRotationSpeed() {
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return rotationSpeed;
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}
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int RelativeEncoder::GenerateBinary(char* data, unsigned char* ix) {
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data[(*ix)++] = (unsigned char)(this->rotationSpeed * 127);
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return 1;
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}
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void RelativeEncoder::ProcessBinary(char* data) {
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this->rotationSpeed = (float)data[0] / 127;
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}
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} // namespace RoboidControl
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