new ntrip client

src/moveControl.cpp

@@ -81,6 +81,10 @@ void MoveControl::runMoveControl() {
 }
 
 void MoveControl::setDrivingStatus(DrivingStatus status) {
+    this->setSpeed(0);
+    this->setRotationSpeed(0);
+    this->setRawPowerLeft(0);
+    this->setRawPowerRight(0);
     this->driving_status = status;
     // switch (this->driving_status) {
     //     case DrivingStatus::stop :
@@ -111,6 +115,16 @@ void MoveControl::setRotationSpeed(double speed) {
         this->rotation_speed = speed;
 }
 
+void MoveControl::setRawPowerLeft(int16_t power) {
+    if (power <= 100 && power >= 100)
+        this->rawPowerLeft = power;
+}
+
+void MoveControl::setRawPowerRight(int16_t power) {
+    if (power <= 100 && power >= 100)
+        this->rawPowerRight = power;
+}
+
 void MoveControl::setPidTunings(uint8_t side, double p, double i, double d) {
     PID* selectedPID = nullptr;
     if (side == 0)
@@ -165,6 +179,11 @@ void MoveControl::regulateMotors() {
             this->right_motor->setTargetPower( (int8_t) this->right_pid_out);
             break;
 
+        case DrivingStatus::raw :
+            this->left_motor->setTargetPower(this->rawPowerLeft);
+            this->right_motor->setTargetPower(this->rawPowerRight);
+            break;
+
         default:
             Serial.println("Wrong drivingState in MoveControl::regulateMotors");
             break;