#include "driveModi.h"

DriveModi::DriveModi() {
    this->loopDelay = 0;
}

DriveModi::~DriveModi() {
    this->moveControl->setSpeed(0);
    this->moveControl->setRotationSpeed(0);
    this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
}

void DriveModi::activate(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData) {
    this->moveControl = moveControl;
    this->input = input;
    this->sensorData = sensorData;
    this->init();
}

void DriveModi::activate(DriveModiParams params){
    this->moveControl = params.moveControl;
    this->input = params.input;
    this->sensorData = params.sensorData;
    this->init();
}

void DriveModi::init() {
    this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
    this->loopDelay = 40;
}