epita/robot-tp4-command
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working controller

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JOLIMAITRE Matthieu 2024-05-31 03:02:45 +02:00
parent 8d45088064
commit 38db780844
10 changed files with 317 additions and 44 deletions
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21
src/PosTracker.cpp
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@ -1,4 +1,5 @@
#include "PosTracker.hpp"
#include <SFML/System/Vector2.hpp>
using sf::Vector2f;
using sf::Transform;
@ -7,12 +8,12 @@ void PosTracker::reset(Vector2f initialPos, float initialRot) {
transform = transformFromPosRot(initialPos, initialRot);
}
void PosTracker::update(float newLeftValue, float newRightValue) {
auto leftDistance = (newLeftValue - _lastLeftValue) * wheelIncrementDistance();
auto rightDistance = (newRightValue - _lastRightValue) * wheelIncrementDistance();
void PosTracker::update(std::size_t value_left, std::size_t value_right) {
auto leftDistance = (value_left - _lastLeftValue) * wheelIncrementDistance() * _wheel_dir_left;
auto rightDistance = (value_right - _lastRightValue) * wheelIncrementDistance() * _wheel_dir_right;
updateTransform(leftDistance, rightDistance);
_lastLeftValue = newLeftValue;
_lastRightValue = newRightValue;
_lastLeftValue = value_left;
_lastRightValue = value_right;
}
void PosTracker::updateTransform(float leftDistance, float rightDistance) {
@ -26,3 +27,13 @@ void PosTracker::updateTransform(float leftDistance, float rightDistance) {
);
transform = new_;
}
Vector2f PosTracker::get_pos() { return this->transform.getPosition(); }
float PosTracker::get_rot() { return this->transform.getRotation(); }
void PosTracker::hint_right(bool forward) {
_wheel_dir_right = forward ? 1 : -1;
}
void PosTracker::hint_left(bool forward) {
_wheel_dir_left = forward ? 1 : -1;
}