51 lines
1.1 KiB
C++
51 lines
1.1 KiB
C++
/**
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* @file calcAzimuth.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief
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* @version 0.1
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* @date 2023-09-03
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*
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* @copyright Copyright (c) 2023
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*
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*/
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#ifndef CALC_AZIMUTH_H
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#define CALC_AZIMUTH_H
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#include "component.h"
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#include "point.h"
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class CalcAzimuth : public Component {
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public:
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enum State {
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Invalid,
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Bad,
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Ok,
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Good,
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Super
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};
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CalcAzimuth(Point point);
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void drivingDirectionChange(Point point);
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void updateCurrentPosition(Point point);
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void disableCalcAzimuth() { this->directionChangeMode = false; }
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int16_t getAzimuth() const { return this->calcAzimuth; }
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State getState() const { return this->state; }
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private:
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void run() override;
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void updateAzimuth();
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State state = State::Invalid;
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Point lastChangePoint;
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Point currentPosition;
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bool positionChanged = false;
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bool directionChangeMode = false;
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int16_t calcAzimuth = INT16_MAX;
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};
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#endif //CALC_AZIMUTH_H
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