99 lines
1.8 KiB
C++
Executable file
99 lines
1.8 KiB
C++
Executable file
#ifndef _NAVIGATOR_H
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#define _NAVIGATOR_H
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#include "../../stdafx.h"
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class Navigator : public IO_Module
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{
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public:
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Navigator()
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{
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this->parent = NULL;
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this->moduleId = 0;
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this->correctionCountdown = CYCLES_PER_CORRECTION;
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this->direction = EMPTY_FLOAT;
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this->targetAngle = EMPTY_FLOAT;
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this->targetX = EMPTY_FLOAT;
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this->targetY = EMPTY_FLOAT;
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this->robotSpeed = 0;
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this->rotationSpeed = 0;
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}
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Navigator(uint32 navigatorId)
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{
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this->parent = NULL;
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this->moduleId = navigatorId;
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this->correctionCountdown = CYCLES_PER_CORRECTION;
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this->direction = EMPTY_FLOAT;
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this->targetAngle = EMPTY_FLOAT;
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this->targetX = EMPTY_FLOAT;
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this->targetY = EMPTY_FLOAT;
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this->robotSpeed = 0;
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this->rotationSpeed = 0;
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}
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protected:
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uint16 correctionCountdown;
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float direction;
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float targetAngle;
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float targetX;
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float targetY;
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float robotSpeed;
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float rotationSpeed;
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public:
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void Update();
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void Stop();
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void Drive(float newDirection, float newAngle, float newSpeed, float rotationSpeed);
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void DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed);
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void RotateTo(float newAngle,float roationSpeed);
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void Rotate(float rotationSpeed);
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void SetSpeed(float newSpeed)
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{
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this->robotSpeed = newSpeed;
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}
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void CalculateDirection();
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void CalculateEngines();
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bool HasTarget()
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{
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return (targetX != EMPTY_FLOAT && targetY != EMPTY_FLOAT);
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}
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float GetTargetX()
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{
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return targetX;
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}
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float GetTargetY()
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{
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return targetY;
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}
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float GetDirection()
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{
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return direction;
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}
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bool HasTargetAngle()
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{
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return (targetAngle != EMPTY_FLOAT);
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}
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bool TargetReached();
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bool AngleReached();
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bool IsMoving()
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{
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return (direction != EMPTY_FLOAT || rotationSpeed != 0);
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}
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};
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#endif
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