add Doxyfile and some moves

2021-12-13 19:16:04 +01:00
parent 3aa3789e36
commit 1fc5a75f33
13 changed files with 2685 additions and 2 deletions
@@ -0,0 +1,37 @@
+#ifndef MANUAL_CONTROL_H
+#define MANUAL_CONTROL_H
+
+#include <Ps3Controller.h>
+
+#include "moveControl.h"
+#include "motorControl.h"
+#include "debugMqtt.h"
+#include "debugTimes.h"
+
+enum ControMode {halt, joystick, trigger};
+class ManualControl {
+    public:
+        ManualControl();
+        void init(MoveControl *moveControl, MotorControl *motorControlLeft, MotorControl *motorControlRight);
+        void runManualControl();
+        void changeDriveMode(ControMode drive_mode);
+
+    private:
+        void driveWithControllerJoystick();
+        void driveWithControllerShoulderTrigger();
+        void reset();
+
+        MoveControl *moveControl;
+        MotorControl *motorControlLeft;
+        MotorControl *motorControlRight;
+        DebugMqtt *debug;
+
+        ControMode controlMode = ControMode::halt;
+        uint32_t last_millis = 0;
+
+        // Is needed for driveWithControllerShoulderTrigger()
+        uint8_t oldL = 0;
+        uint8_t oldR = 0;
+};
+
+#endif // MANUAL_CONTROL_H