added possibility to change max speeds in

manualControl
2023-05-11 22:15:34 +02:00
parent ed39cdb874
commit 68b7364cbe
3 changed files with 58 additions and 6 deletions
@@ -62,6 +62,9 @@ class ManualControl : public DriveModi {
         * @param maxSpeed in m/s 
         */
        void setMaxSpeed(double maxSpeed) { max_speed = maxSpeed; }
+        void increaseMaxSpeed(double increase = 0.1) { max_speed += increase; }
+        void decreaseMaxSpeed(double increase = 0.1) { max_speed -= increase; }
+        double getMaxSpeed() { return this->max_speed; }
        
        /**
         * @brief Set the max rotation
@@ -69,6 +72,9 @@ class ManualControl : public DriveModi {
         * @param maxRotation in rad/s (maybe) 
         */
        void setMaxRotation(double maxRotation) { max_rotation = maxRotation; }
+        void increaseMaxRotation(double increase = 0.1) { max_rotation += increase; }
+        void decreaseMaxRotation(double increase = 0.1) { max_rotation -= increase; }
+        double getMaxRotation() { return this->max_rotation; }

    protected:
        MoveControl *moveControl;