ntrip, testMode, zed9 gnss modul

2022-09-13 20:31:52 +02:00
parent c7cb0d3895
commit af6cb98898
43 changed files with 907 additions and 262 deletions
@@ -0,0 +1,54 @@
+/**
+ * @file testMode.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-09-08
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+#ifndef TEST_MODE_H 
+#define TEST_MODE_H
+
+#include "moveControl.h"
+#include "driveModi/driveModi.h"
+
+class TestMode : public DriveModi {
+    public:
+        TestMode(MoveControl *MoveControl);
+        ~TestMode();
+
+        void loop() override;
+
+        void setSpeed(double speed);
+        void setRotationSpeed(double speed);
+
+        bool driveForward(uint16_t cm);
+        bool driveBackward(uint16_t cm);
+
+        bool turnLeft(uint16_t degree);
+        bool turnRight(uint16_t degree);
+
+        bool driveForwardLeft(uint16_t cm, uint16_t degree);
+        bool driveForwardRight(uint16_t cm, uint16_t degree);
+        bool driveBackwardLeft(uint16_t cm, uint16_t degree);
+        bool driveBackwardRight(uint16_t cm, uint16_t degree);
+
+    private:
+        MoveControl *moveControl;
+
+        double speed = 0;
+        double rotationSpeed = 0;
+
+        bool busy = false;
+        
+        uint8_t delay = 10;
+
+        uint32_t maneuverTime = 0;
+        uint32_t lastMillis = 0;
+        uint32_t actionStart = 0;
+
+};
+
+#endif // TEST_MODE_H