94 lines
2.1 KiB
C++
94 lines
2.1 KiB
C++
/**
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* @file calcAzimuth.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Contains a class that calculates the azimuth from a last and a current position
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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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/**
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* @brief A class to calculate an azimuth
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*
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* This class calculates the current Azimuth with the last position
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* where the rover has been rotated and the current position
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*/
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class CalcAzimuth : public Component
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{
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public:
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/**
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* @brief States which represent the quality of the current calculated azimuth
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*/
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enum State
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{
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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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/**
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* @brief Construct a new Calc Azimuth object
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*
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* @param point current position
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*/
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CalcAzimuth(Point point);
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/**
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* @brief Have to be called if the rover rotates
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*
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* @param point current position
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*/
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void drivingDirectionChange(Point point);
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/**
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* @brief update the current position
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*
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* This function should be called if the rover has moved in
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* a straight direction, to calculated the current Azimuth.
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* More distance to the point given to drivingDirectionChange()
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* increase the accuracy of the calculation.
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*
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* @param point current position
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*/
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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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/**
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* @brief Get the State struct
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*
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* @return State current quality of the calculation
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*/
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State getState() const { return this->state; }
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static String stateToString(State 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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double minDistanceForBetterQuality = 2;
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static constexpr uint8_t loopDelay = 50;
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};
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#endif // CALC_AZIMUTH_H
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