73 lines
2.1 KiB
C++
73 lines
2.1 KiB
C++
/**
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* @file driveModi.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Contains a virtual class for all Modi
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* @version 0.1
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* @date 2021-12-14
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*
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* @copyright Copyright (c) 2021
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*
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*/
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#ifndef DRIVEMODI_H
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#define DRIVEMODI_H
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#include "component.h"
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#include "moveControl.h"
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#include "controlPadInput.h"
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#include "sensorData.h"
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struct DriveModiParams {
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MoveControl* moveControl;
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const ControlPadInput* input;
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const SensorData* sensorData;
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};
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/**
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* @brief Baseclass to build DriveModi
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*
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* This class must be inherited by other classes which want to be
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* act as a DriveModi, because the DriveModi structure uses polymorphism.
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*/
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class DriveModi : public Component {
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public:
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DriveModi();
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virtual ~DriveModi();
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const SensorData* getSensorData() const { return this->sensorData; }
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void activate(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData);
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void activate(DriveModiParams params);
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/**
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* @brief Set the max speed
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*
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* @param maxSpeed in m/s
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*/
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void setMaxSpeed(double maxForwardSpeed) { maxForwardSpeed = maxForwardSpeed; }
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void increaseMaxSpeed(double increase = 0.1) { maxForwardSpeed += increase; }
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void decreaseMaxSpeed(double increase = 0.1) { maxForwardSpeed -= increase; }
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double getMaxSpeed() const { return this->maxForwardSpeed; }
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/**
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* @brief Set the max rotation
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*
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* @param maxRotation in rad/s (maybe)
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*/
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void setMaxRotation(double maxRotation) { maxRotationSpeed = maxRotation; }
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void increaseMaxRotation(double increase = 0.1) { maxRotationSpeed += increase; }
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void decreaseMaxRotation(double increase = 0.1) { maxRotationSpeed -= increase; }
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double getMaxRotation() const { return this->maxRotationSpeed; }
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protected:
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MoveControl *moveControl;
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const ControlPadInput* input;
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const SensorData* sensorData;
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double maxForwardSpeed = 1;
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double maxRotationSpeed = 7;
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private:
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void init();
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};
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#endif // DRIVEMODI_H
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