58 lines
1.1 KiB
C++
58 lines
1.1 KiB
C++
/**
|
|
* @file calcAzimuth.h
|
|
* @author Alexander Klein (alex@kleiax.de)
|
|
* @brief
|
|
* @version 0.1
|
|
* @date 2023-09-03
|
|
*
|
|
* @copyright Copyright (c) 2023
|
|
*
|
|
*/
|
|
|
|
#ifndef CALC_AZIMUTH_H
|
|
#define CALC_AZIMUTH_H
|
|
|
|
#include "component.h"
|
|
#include "point.h"
|
|
|
|
class CalcAzimuth : public Component
|
|
{
|
|
public:
|
|
enum State
|
|
{
|
|
Invalid,
|
|
Bad,
|
|
Ok,
|
|
Good,
|
|
Super
|
|
};
|
|
|
|
CalcAzimuth(Point point);
|
|
|
|
void drivingDirectionChange(Point point);
|
|
void updateCurrentPosition(Point point);
|
|
void disableCalcAzimuth() { this->directionChangeMode = false; }
|
|
|
|
int16_t getAzimuth() const { return this->calcAzimuth; }
|
|
State getState() const { return this->state; }
|
|
|
|
static String stateToString(State state);
|
|
|
|
private:
|
|
void run() override;
|
|
void updateAzimuth();
|
|
|
|
State state = State::Invalid;
|
|
Point lastChangePoint;
|
|
Point currentPosition;
|
|
|
|
bool positionChanged = false;
|
|
bool directionChangeMode = false;
|
|
int16_t calcAzimuth = INT16_MAX;
|
|
double minDistanceForBetterQuality = 2;
|
|
|
|
static constexpr uint8_t loopDelay = 50;
|
|
};
|
|
|
|
#endif // CALC_AZIMUTH_H
|