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#ifndef _NAVIGATOR_H
#define _NAVIGATOR_H
#include "../../stdafx.h"
class Navigator : public IO_Module
{
public:
Navigator()
{
this->parent = NULL;
this->moduleId = 0;
this->correctionCountdown = CYCLES_PER_CORRECTION;
this->direction = EMPTY_FLOAT;
this->targetAngle = EMPTY_FLOAT;
this->targetX = EMPTY_FLOAT;
this->targetY = EMPTY_FLOAT;
this->robotSpeed = 0;
this->rotationSpeed = 0;
}
Navigator(uint32 navigatorId)
{
this->parent = NULL;
this->moduleId = navigatorId;
this->correctionCountdown = CYCLES_PER_CORRECTION;
this->direction = EMPTY_FLOAT;
this->targetAngle = EMPTY_FLOAT;
this->targetX = EMPTY_FLOAT;
this->targetY = EMPTY_FLOAT;
this->robotSpeed = 0;
this->rotationSpeed = 0;
}
protected:
uint16 correctionCountdown;
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 RotateTo(float newAngle,float roationSpeed);
void Rotate(float rotationSpeed);
void SetSpeed(float newSpeed)
{
this->robotSpeed = newSpeed;
}
void CalculateDirection();
void CalculateEngines();
bool HasTarget()
{
return (targetX != EMPTY_FLOAT && targetY != EMPTY_FLOAT);
}
bool TargetReached();
bool AngleReached();
};
#endif
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