95 lines
2.6 KiB
C++
95 lines
2.6 KiB
C++
/**
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* @file manualControl.cpp
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Implementation of the class manualControl.h
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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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#include "manualControl.h"
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ManualControl::ManualControl(MoveControl *moveControl, const ControlPadInput *input) {
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this->moveControl = moveControl;
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this->input = input;
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this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
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}
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ManualControl::~ManualControl() {
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this->moveControl->setSpeed(0);
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this->moveControl->setRotationSpeed(0);
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this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
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}
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void ManualControl::loop() {
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if (this->caliCompass)
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this->caliCompass->loop();
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if (millis() - this->lastMillis < delay)
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return;
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switch (this->inputMode) {
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case InputMode::Analog :
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this->analogControl();
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break;
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case InputMode::Digital :
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this->digitalControl();
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break;
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default:
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break;
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}
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this->lastMillis = millis();
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}
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void ManualControl::switchInputMode() {
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this->inputMode = (this->inputMode == InputMode::Analog) ? InputMode::Digital : InputMode::Analog;
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}
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void ManualControl::analogControl() {
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// Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128)
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int16_t y = this->input->x - 127;
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int16_t x = this->input->y - 127;
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// if (x || y) {
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// std::cout << "x: " << (int) this->input->x << " y: " << (int) this->input->y << std::endl;
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// std::cout << "x: " << (int) x << " y: " << (int) y << std::endl;
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// }
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double value_per_step = this->max_speed * 2 / 256;
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this->moveControl->setSpeed(-y * value_per_step);
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value_per_step = this->max_rotation * 2 / 256;
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this->moveControl->setRotationSpeed(x * value_per_step);
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}
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void ManualControl::digitalControl() {
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int16_t y = this->input->x - 127;
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int16_t x = this->input->y - 127;
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if (y > 120)
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this->moveControl->setSpeed(-this->max_speed);
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else if (y < -120)
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this->moveControl->setSpeed(this->max_speed);
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else
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this->moveControl->setSpeed(0);
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if (x > 120)
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this->moveControl->setRotationSpeed(this->max_rotation);
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else if (x < -120)
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this->moveControl->setRotationSpeed(-this->max_rotation);
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else
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this->moveControl->setRotationSpeed(0);
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if (this->directionChangeWrapper && (x > 120 || x < -120))
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this->lastLoopTurned = true;
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else if (this->lastLoopTurned) {
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if (this->directionChangeWrapper)
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this->directionChangeWrapper->action();
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this->lastLoopTurned = false;
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}
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}
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