kleiax
22eb6788c3
- shiftet moveControl States in the class namespace - added auto reconeect to NtripClient - a lot of refactor
98 lines
3.0 KiB
C++
98 lines
3.0 KiB
C++
/**
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* @file manualControl.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief A small class to drive the Rover by the controller joystick.
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* @version 0.1
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* @date 2021-12-13
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*
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* @copyright Copyright (c) 2021
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*
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*/
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#ifndef MANUAL_CONTROL_H
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#define MANUAL_CONTROL_H
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#include "moveControl.h"
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#include "driveModi/driveModi.h"
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#include "controlPadInput.h"
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#include "calibrateCompass.h"
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/**
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* @brief Drive the Rover with a Joystick
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*
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* This class gets the x and y value from the PS3 controller
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* and map the values to moveControl
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*
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* @see MoveControl
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*/
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class ManualControl : public DriveModi {
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public:
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ManualControl(MoveControl *moveControl, const ControlPadInput *input);
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/**
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* @brief Destroy the Manual Control object
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* Set in moveControl speed and rotation to 0 and set DrivingStatus::Stop
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*/
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~ManualControl();
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/**
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* @brief Calls runManualControl() to update all values.
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*
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* This function should be called every mainloop. If the delay is not reached, than the
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* functions returns immediately.
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* @see runSpeedometer()
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* @see setDelay()
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*/
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void loop() override;
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/**
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* @brief Noramly called repeatedly by loop() to calcluate new values.
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* Set new values for speed and rotation in moveControl
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*/
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void runManualControl();
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/**
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* @brief Set the min delay between each loop
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*
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* @param delay_ time in Milliseconds
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*/
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void setDelay(uint8_t delay_) { delay = delay_; }
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/**
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* @brief Set the max speed
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*
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* @param maxSpeed in m/s
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*/
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void setMaxSpeed(double maxSpeed) { max_speed = maxSpeed; }
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void increaseMaxSpeed(double increase = 0.1) { max_speed += increase; }
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void decreaseMaxSpeed(double increase = 0.1) { max_speed -= increase; }
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double getMaxSpeed() { return this->max_speed; }
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/**
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* @brief Set the max rotation
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*
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* @param maxRotation in rad/s (maybe)
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*/
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void setMaxRotation(double maxRotation) { max_rotation = maxRotation; }
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void increaseMaxRotation(double increase = 0.1) { max_rotation += increase; }
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void decreaseMaxRotation(double increase = 0.1) { max_rotation -= increase; }
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double getMaxRotation() { return this->max_rotation; }
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void setCalibrateCompass(CalibrateCompass* val = nullptr) { this->caliCompass = val; }
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uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }
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uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }
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protected:
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MoveControl *moveControl;
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const ControlPadInput* input;
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private:
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uint32_t lastMillis = 0;
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uint8_t delay = 10;
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double max_speed = 1;
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double max_rotation = 7;
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CalibrateCompass* caliCompass = nullptr;
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};
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#endif // MANUAL_CONTROL_H
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