57 lines
1.5 KiB
C++
57 lines
1.5 KiB
C++
/**
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* @file manualControl.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief A small class to drive the Rover by the controller joystick.
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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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#ifndef MANUAL_CONTROL_H
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#define MANUAL_CONTROL_H
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#include "driveModi/driveModi.h"
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class DirectionChangeWrapper {
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public:
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virtual void action() = 0;
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};
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/**
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* @brief Drive the Rover with a Joystick
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*
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* This class gets the x and y value from the PS3 controller
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* and map the values to moveControl
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*
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* @see MoveControl
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*/
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class ManualControl : public DriveModi {
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public:
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enum class InputMode : uint8_t {
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Analog,
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Digital
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};
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void switchInputMode();
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void setInputMode(InputMode mode) { this->inputMode = mode; }
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InputMode getInputMode() const { return this->inputMode; }
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void setDirectionChangeCallback(DirectionChangeWrapper* callback) { this->directionChangeWrapper = callback; }
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uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }
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uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }
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protected:
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void run() override;
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private:
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void analogControl();
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void digitalControl();
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bool lastLoopTurned = false;
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DirectionChangeWrapper* directionChangeWrapper = nullptr;
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InputMode inputMode = InputMode::Analog;
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};
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#endif // MANUAL_CONTROL_H
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