kopia lustrzana https://github.com/pimoroni/pimoroni-pico
129 wiersze
3.1 KiB
C++
129 wiersze
3.1 KiB
C++
#include "motor_state.hpp"
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namespace motor {
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MotorState::MotorState() {
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}
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//MotorState::MotorState(CalibrationType default_type)
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// : calib(default_type) {
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//}
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//MotorState::MotorState(const Calibration& calibration)
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// : calib(calibration) {
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//}
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float MotorState::enable() {
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return _enable();
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}
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float MotorState::disable() {
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enabled = false;
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return 0.0f; // A zero duty
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}
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float MotorState::_enable() {
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enabled = true;
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return last_enabled_duty;
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}
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bool MotorState::is_enabled() const {
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return enabled;
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}
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float MotorState::get_duty() const {
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return last_enabled_duty;
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}
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float MotorState::set_duty_with_return(float duty) {
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//TODO
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// float speed_out, duty_out;
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// if(calib.duty_to_speed(duty, speed_out, duty_out)) {
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// motor_speed = speed_out;
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// last_enabled_duty = duty_out;
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// return _enable();
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// }
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return disable();
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}
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float MotorState::get_speed() const {
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return motor_speed;
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}
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float MotorState::set_speed_with_return(float speed) {
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//TODO
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// float duty_out, speed_out;
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// if(calib.speed_to_duty(speed, duty_out, speed_out)) {
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// last_enabled_duty = duty_out;
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// motor_speed = speed_out;
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// return _enable();
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// }
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return disable();
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}
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float MotorState::get_min_speed() const {
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float speed = 0.0f;
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//TODO
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//if(calib.size() > 0) {
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// speed = calib.first().speed;
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//}
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return speed;
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}
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// float MotorState::get_mid_speed() const {
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// float speed = 0.0f;
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// if(calib.size() > 0) {
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// const Calibration::Pair &first = calib.first();
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// const Calibration::Pair &last = calib.last();
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// speed = (first.speed + last.speed) / 2.0f;
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// }
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// return speed;
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// }
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float MotorState::get_max_speed() const {
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float speed = 0.0f;
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//TODO
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//if(calib.size() > 0) {
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// speed = calib.last().speed;
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//}
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return speed;
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}
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float MotorState::to_min_with_return() {
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return set_speed_with_return(get_min_speed());
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}
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// float MotorState::to_mid_with_return() {
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// return set_speed_with_return(get_mid_speed());
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// }
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float MotorState::to_max_with_return() {
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return set_speed_with_return(get_max_speed());
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}
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float MotorState::to_percent_with_return(float in, float in_min, float in_max) {
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float speed = MotorState::map_float(in, in_min, in_max, get_min_speed(), get_max_speed());
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return set_speed_with_return(speed);
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}
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float MotorState::to_percent_with_return(float in, float in_min, float in_max, float speed_min, float speed_max) {
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float speed = MotorState::map_float(in, in_min, in_max, speed_min, speed_max);
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return set_speed_with_return(speed);
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}
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// Calibration& MotorState::calibration() {
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// return calib;
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// }
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// const Calibration& MotorState::calibration() const {
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// return calib;
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// }
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int32_t MotorState::duty_to_level(float duty, uint32_t resolution) {
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return (int32_t)(duty * (float)resolution);
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}
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float MotorState::map_float(float in, float in_min, float in_max, float out_min, float out_max) {
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return (((in - in_min) * (out_max - out_min)) / (in_max - in_min)) + out_min;
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}
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}; |