no time for comment

2023-08-09 22:41:48 +02:00
parent 98f3cb93f0
commit 2e0b7f7f8d
8 changed files with 91 additions and 16 deletions
@@ -46,6 +46,7 @@ class Autopilot : public ManualControl {
            GetToStartPoint,
            SelfDrivingAvailable,
            SelfDriving,
+            SelfDrivingRotate,
            TargetReached
        };

@@ -106,6 +107,7 @@ class Autopilot : public ManualControl {
         * @return false 
         */
        bool shouldUpdate();
+        void rotate(int16_t degree);

    private:
        void init();
@@ -134,6 +136,8 @@ class Autopilot : public ManualControl {
        uint32_t loopLastMillis = 0;
        uint32_t lastAutopilotChangeMillis = 0;

+        int16_t rotationAimAzimuth;
+
        double drivingSpeed = 1;
        double rotationSpeed = 4.5;
        double minRemainingDistance = 0.25;