41 lines
1.1 KiB
C++
41 lines
1.1 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) {
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this->moveControl = moveControl;
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this->moveControl->setDrivingStatus(DrivingStatus::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(DrivingStatus::stop);
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}
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void ManualControl::loop() {
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if (millis() - this->last_millis < delay) {
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return;
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}
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this->runManualControl();
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this->last_millis = millis();
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}
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void ManualControl::runManualControl() {
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int8_t x = Ps3.data.analog.stick.lx;
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int8_t y = Ps3.data.analog.stick.ly;
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double value_per_step = this->max_speed * 2 / 256;
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this->moveControl->setSpeed((y * -1) * 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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} |