31 lines
731 B
C++
31 lines
731 B
C++
#ifndef _ROBOCUP_NAVIGATION_H_
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#define _ROBOCUP_NAVIGATION_H_
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#include "Motor.h"
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#include "util.h"
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class Navigation {
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private:
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Motor *motors[3];
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float motorPos[3];
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float speed;
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float direction;
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float spin;
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void update();
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public:
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Navigation(Motor *m1, float p1, Motor *m2, float p2, Motor *m3, float p3);
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void setSpeed(float speed) {this->speed = CLAMP(0.0, speed, 1.0); update();}
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float getSpeed() {return speed;}
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void setDirection(float direction) {this->direction = direction; update();}
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float getDirection() {return direction;}
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void setSpin(float spin) {this->spin = CLAMP(-1.0, spin, 1.0); update();}
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float getSpin() {return spin;}
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};
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#endif
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