31 lines
784 B
C++
31 lines
784 B
C++
#include "driveModi.h"
|
|
|
|
DriveModi::DriveModi() {
|
|
this->loopDelay = 0;
|
|
}
|
|
|
|
DriveModi::~DriveModi() {
|
|
this->moveControl->setSpeed(0);
|
|
this->moveControl->setRotationSpeed(0);
|
|
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
|
|
}
|
|
|
|
void DriveModi::activate(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData) {
|
|
this->moveControl = moveControl;
|
|
this->input = input;
|
|
this->sensorData = sensorData;
|
|
this->init();
|
|
}
|
|
|
|
void DriveModi::activate(DriveModiParams params){
|
|
this->moveControl = params.moveControl;
|
|
this->input = params.input;
|
|
this->sensorData = params.sensorData;
|
|
this->init();
|
|
}
|
|
|
|
void DriveModi::init() {
|
|
this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
|
|
this->loopDelay = 40;
|
|
}
|