ArcadeDriveHelper.hpp

/*
 * Copyright 2021 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
#pragma once
 
#include <arpirobot/core/device/MotorController.hpp>
#include <vector>
#include <memory>
#include <array>
 
namespace arpirobot{
    class ArcadeDriveHelper{
    public:
        ArcadeDriveHelper(MotorController &leftMotor, MotorController &rightMotor);
 
        ArcadeDriveHelper(std::shared_ptr<MotorController> leftMotor, std::shared_ptr<MotorController> rightMotor);
 
        ArcadeDriveHelper(std::vector<std::reference_wrapper<MotorController>> leftMotors, std::vector<std::reference_wrapper<MotorController>> rightMotors);
 
        ArcadeDriveHelper(std::vector<std::shared_ptr<MotorController>> leftMotors, std::vector<std::shared_ptr<MotorController>> rightMotors);
 
        void updateSpeed(double newSpeed);
 
        void updateRotation(double newRotation);
 
        void update(double newSpeed, double newRotation);
 
    private:
 
        // Returns {leftSpeed, rightSpeed}
        std::array<double, 2> calculateSpeeds(double speed, double rotation);
 
        void doUpdate();
 
        std::vector<std::shared_ptr<MotorController>> leftMotors;
        std::vector<std::shared_ptr<MotorController>> rightMotors;
        double speed = 0;
        double rotation = 0;
    };
}