ready to test capture Route and Autopiloz

2022-02-03 19:50:48 +01:00
parent 5ca21b09b2
commit bc37abcb66
20 changed files with 226 additions and 39 deletions
@@ -15,20 +15,29 @@

 #include "navigation.h"
 #include "moveControl.h"
-#include "driveModi/driveModi.h"
+#include "driveModi/Modi/ManualControl/manualControl.h"

-class Autopilot : DriveModi{
+class Autopilot : public ManualControl {
    public:
-        Autopilot();
+        Autopilot(MoveControl* moveControl, Navigation* navigation);

        void loop();
        void runAutopilot();


    private:
-        MoveControl* moveControl;
-        Navigation* navigation;
+        void setSelfDriving(bool val);
+        void setSpeedInRelToDistance(double distance);
+        void setRotInRelToDistance(int16_t course);

+        Navigation* navigation;
+        CourseCorrection courseCorrection;
+
+        bool navigationStarted = false;
+        bool selfDriving = false;
+
+        uint16_t last_millis = 0;
+        uint8_t delay = 40;
 };

 #endif // AUTOPILOT_H