blob: 8da52f6e31198d18c2174386d70bbcfb5d672608 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
|
#ifndef _NAVIGATOR_H
#define _NAVIGATOR_H
//#include <math.h>
#include "../../stdafx.h"
class Navigator : public IO_Module
{
public:
Navigator()
{
this->parent = NULL;
this->moduleId = 0;
this->direction = -1.0f;
this->targetAngle = -1.0f;
this->targetX = -1.0f;
this->targetY = -1.0f;
this->robotSpeed = 0;
this->rotationSpeed = 0;
}
Navigator(uint32 navigatorId)
{
this->parent = NULL;
this->moduleId = navigatorId;
this->direction = -1.0f;
this->targetAngle = -1.0f;
this->targetX = -1.0f;
this->targetY = -1.0f;
this->robotSpeed = 0;
this->rotationSpeed = 0;
}
protected:
float direction;
float targetAngle;
float targetX;
float targetY;
float robotSpeed;
float rotationSpeed;
public:
void Update();
void Stop();
void Drive(float newDirection, float newAngle, float newSpeed, float rotationSpeed);
void DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed);
void Rotate(float rotationSpeed);
void SetSpeed(float newSpeed)
{
this->robotSpeed = newSpeed;
}
};
#endif
|
