Added PS3 Controller

New strategy in moveControl
2021-04-19 13:08:15 +02:00
parent a33b4a2e4c
commit 89050ae2d3
8 changed files with 221 additions and 140 deletions
@@ -7,24 +7,37 @@
 #include "speedometer.h"
 #include "config.h"

+enum drivingStatus {stop,
+                    straightForward,
+                    straightBackward,
+                    arcForwardLeft,
+                    arcForwardRight,
+                    arcBackwardLeft,
+                    arcBackwardRight,
+                    rotateLeft,
+                    rotateRight};
+
 class MoveControl {
    public:
        MoveControl();
        void init(MotorControl *left_motor, MotorControl *right_motor,
                    Speedometer *left_encoder, Speedometer *right_encoder);
        void runMoveControl();
+        void setDrivingStatus(drivingStatus status);
        void setSpeed(double speed);
        void setRotationspeed(double speed);

    private:
        void calcWheelSpeed();
-        static void regulateMotorPower(MotorControl *motor, Speedometer *cur_speed, double tar_speed);
+        void regulateMotors();

        MotorControl *left_motor;
        MotorControl *right_motor;
        Speedometer *left_speedometer;
        Speedometer *right_speedometer;

+        drivingStatus driving_status = drivingStatus::stop;
+
        double x_speed = 0;
        double rotation_speed = 0;