/
Movement.cpp
260 lines (244 loc) · 8.39 KB
/
Movement.cpp
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#include "Movement.h"
#include "EZB.h"
MovementClass::MovementClass(EZB* ezb){
m_ezb = ezb;
DroneForwardReverseRate = 0.2f;
DroneRollLeftRightRate = 0.2f;
DroneUpDownRate = 0.2f;
DroneYawLeftRightRate = 0.2f;
LeftWheelTriggerA = DigitalClass::D14;
LeftWheelTriggerB = DigitalClass::D13;
ModifiedServoLeftForwardValue = ServoClass::SERVO_MIN;
ModifiedServoLeftReverseValue = ServoClass::SERVO_MAX;
ModifiedServoLeftStopValue = ((ServoClass::SERVO_MAX - ServoClass::SERVO_MIN) / 2);
ModifiedServoRightForwardValue = ServoClass::SERVO_MAX;
ModifiedServoRightReverseValue = ServoClass::SERVO_MIN;
ModifiedServoRightStopValue = ((ServoClass::SERVO_MAX - ServoClass::SERVO_MIN) / 2);
RightWheelTriggerA = DigitalClass::D12;
RightWheelTriggerB = DigitalClass::D11;
ServoWheelLeftModifiedPort = ServoClass::D14;
ServoWheelRightModifiedPort = ServoClass::D13;
}
void MovementClass::GoDown(){
if (m_currentDirection != Down){
if (MovementType == ARDrone){
//mm_ezb->ARDroneControl.SetProgressiveInputValues(0.0f, 0.0f, -1*DroneUpDownRate, 0.0f);
}
m_currentDirection = Down;
if (OnMovement != NULL)
OnMovement(m_currentDirection);
}
}
void MovementClass::GoForward(unsigned char speed){
if (m_currentDirection != Forward){
if (speed > MAX_SPEED){
speed = MAX_SPEED;
}
if (MovementType == ModifiedServo){
m_ezb->Servo->SetServoPosition(ServoWheelRightModifiedPort, ModifiedServoRightForwardValue);
m_ezb->Servo->SetServoPosition(ServoWheelLeftModifiedPort, ModifiedServoLeftForwardValue);
}
else if (MovementType == HBridge)
{
m_ezb->Digital->SetDigitalPort(LeftWheelTriggerA, true);
m_ezb->Digital->SetDigitalPort(LeftWheelTriggerB, false);
m_ezb->Digital->SetDigitalPort(RightWheelTriggerA, true);
m_ezb->Digital->SetDigitalPort(RightWheelTriggerB, false);
}
else if (MovementType == Roomba){
//m_ezb->Roomba->Forward(speed);
}
else if (MovementType == BV4113){
//m_ezb->BV4113->Forward();
}
else if (MovementType == ARDrone){
//m_ezb->ARDroneControl.SetProgressiveInputValues(0f, -DroneForwardReverseRate, 0f, 0f);
}
else if (MovementType == BrookstoneRover){
//m_ezb->BrookstoneRover.RightForward(speed);
//m_ezb->BrookstoneRover.LeftForward(speed);
}
else if (MovementType == Roboy){
//m_ezb->Roboy.WalkForward();
}
m_currentDirection = Forward;
if (OnMovement != NULL){
OnMovement(m_currentDirection);
}
}
}
void MovementClass::GoLeft(unsigned char speed){
if (m_currentDirection != Left)
{
if (MovementType == ModifiedServo){
m_ezb->Servo->SetServoPosition(ServoWheelRightModifiedPort, ModifiedServoRightForwardValue);
m_ezb->Servo->SetServoPosition(ServoWheelLeftModifiedPort, ModifiedServoLeftReverseValue);
}
else if (MovementType == HBridge){
m_ezb->Digital->SetDigitalPort(LeftWheelTriggerA, false);
m_ezb->Digital->SetDigitalPort(LeftWheelTriggerB, true);
m_ezb->Digital->SetDigitalPort(RightWheelTriggerA, true);
m_ezb->Digital->SetDigitalPort(RightWheelTriggerB, false);
}
else if (MovementType == Roomba){
//m_ezb->Roomba.Left(speed);
}
else if (MovementType == BV4113){
//m_ezb->BV4113.Left();
}
else if (MovementType == ARDrone){
//m_ezb->ARDroneControl.SetProgressiveInputValues(0f, 0f, 0f, -DroneYawLeftRightRate);
}
else if (MovementType == BrookstoneRover){
//m_ezb->BrookstoneRover.RightForward(speed);
//m_ezb->BrookstoneRover.LeftReverse(speed);
}
m_currentDirection = Left;
if (OnMovement != NULL)
{
OnMovement(m_currentDirection);
}
}
}
void MovementClass::GoReverse(unsigned char speed){
if (m_currentDirection != Reverse){
if (speed > MAX_SPEED)
speed = MAX_SPEED;
if (MovementType == ModifiedServo){
m_ezb->Servo->SetServoPosition(ServoWheelRightModifiedPort, ModifiedServoRightReverseValue);
m_ezb->Servo->SetServoPosition(ServoWheelLeftModifiedPort, ModifiedServoLeftReverseValue);
}
else if (MovementType == HBridge){
m_ezb->Digital->SetDigitalPort(LeftWheelTriggerA, false);
m_ezb->Digital->SetDigitalPort(LeftWheelTriggerB, true);
m_ezb->Digital->SetDigitalPort(RightWheelTriggerA, false);
m_ezb->Digital->SetDigitalPort(RightWheelTriggerB, true);
}
else if (MovementType == Roomba){
//m_ezb->Roomba.Reverse(speed);
}
else if (MovementType == BV4113){
//m_ezb->BV4113.Reverse();
}
else if (MovementType == ARDrone){
//m_ezb->ARDroneControl.SetProgressiveInputValues(0f, DroneForwardReverseRate, 0f, 0f);
}
else if (MovementType == BrookstoneRover){
//m_ezb->BrookstoneRover.RightReverse(speed);
//m_ezb->BrookstoneRover.LeftReverse(speed);
}
m_currentDirection = Reverse;
if (OnMovement != NULL){
OnMovement(m_currentDirection);
}
}
}
void MovementClass::GoRight(unsigned char speed)
{
if (m_currentDirection != Right){
if (MovementType == ModifiedServo){
m_ezb->Servo->SetServoPosition(ServoWheelRightModifiedPort, ModifiedServoRightReverseValue);
m_ezb->Servo->SetServoPosition(ServoWheelLeftModifiedPort, ModifiedServoLeftForwardValue);
}
else if (MovementType == HBridge){
m_ezb->Digital->SetDigitalPort(LeftWheelTriggerA, true);
m_ezb->Digital->SetDigitalPort(LeftWheelTriggerB, false);
m_ezb->Digital->SetDigitalPort(RightWheelTriggerA, false);
m_ezb->Digital->SetDigitalPort(RightWheelTriggerB, true);
}
else if (MovementType == Roomba){
//m_ezb->Roomba.Right(speed);
}
else if (MovementType == BV4113){
//m_ezb->BV4113.Right();
}
else if (MovementType == ARDrone){
//m_ezb->ARDroneControl.SetProgressiveInputValues(0f, 0f, 0f, DroneYawLeftRightRate);
}
else if (MovementType == BrookstoneRover){
//m_ezb->BrookstoneRover.RightReverse(speed);
//m_ezb->BrookstoneRover.LeftForward(speed);
}
m_currentDirection = Right;
if (OnMovement != NULL){
OnMovement(m_currentDirection);
}
}
}
void MovementClass::GoRollLeft()
{
if (m_currentDirection != RollLeft){
if (MovementType == ARDrone){
//m_ezb->ARDroneControl.SetProgressiveInputValues(-1*DroneRollLeftRightRate, 0f, 0f, 0f);
}
m_currentDirection = RollLeft;
if (OnMovement != NULL){
OnMovement(m_currentDirection);
}
}
}
void MovementClass::GoRollRight(){
if (m_currentDirection != RollRight){
if (MovementType == ARDrone){
//m_ezb->ARDroneControl.SetProgressiveInputValues(DroneRollLeftRightRate, 0f, 0f, 0f);
}
m_currentDirection = RollRight;
if (OnMovement != NULL){
OnMovement(m_currentDirection);
}
}
}
void MovementClass::GoStop(){
if (m_currentDirection != Stop){
if (MovementType == ModifiedServo){
if (ModifiedServoUseStopValue){
m_ezb->Servo->SetServoPosition(ServoWheelRightModifiedPort, ModifiedServoRightStopValue);
m_ezb->Servo->SetServoPosition(ServoWheelLeftModifiedPort, ModifiedServoLeftStopValue);
}
else{
m_ezb->Servo->ReleaseServo(ServoWheelRightModifiedPort);
m_ezb->Servo->ReleaseServo(ServoWheelLeftModifiedPort);
}
}
else if (MovementType == HBridge){
m_ezb->Digital->SetDigitalPort(LeftWheelTriggerA, false);
m_ezb->Digital->SetDigitalPort(LeftWheelTriggerB, false);
m_ezb->Digital->SetDigitalPort(RightWheelTriggerA, false);
m_ezb->Digital->SetDigitalPort(RightWheelTriggerB, false);
}
else if (MovementType == Roomba){
//m_ezb->Roomba.Stop();
}
else if (MovementType == BV4113){
//m_ezb->BV4113.Stop();
}
else if (MovementType == ARDrone){
//m_ezb->ARDroneControl.Hover();
}
else if (MovementType == BrookstoneRover){
//m_ezb->BrookstoneRover.RightStop();
//m_ezb->BrookstoneRover.LeftStop();
}
else if (MovementType == Roboy){
//m_ezb->Roboy.WalkStop();
}
m_currentDirection = Stop;
if (OnMovement != NULL){
OnMovement(m_currentDirection);
}
}
}
void MovementClass::GoUp(){
if (m_currentDirection != Up){
if (MovementType == ARDrone){
//m_ezb->ARDroneControl.SetProgressiveInputValues(0f, 0f, DroneUpDownRate, 0f);
}
m_currentDirection = Up;
if (OnMovement != NULL){
OnMovement(m_currentDirection);
}
}
}
MovementClass::MovementDirectionEnum MovementClass::GetCurrentDirection(){
return m_currentDirection;
}