forked from StopPointTeam/TaiChi
87 lines
2.6 KiB
C++
87 lines
2.6 KiB
C++
#ifndef MOVETAICHI_H
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#define MOVETAICHI_H
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//注释以关闭调试功能
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#define MOVE_DEBUG
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#ifdef MOVE_DEBUG
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#define NeoSerialDebug NeoSerial
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#endif
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//轮胎定义
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#define LEFT_A_WHEEL 0
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#define LEFT_B_WHEEL 1
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#define RIGHT_A_WHEEL 2
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#define RIGHT_B_WHEEL 3
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//轮胎旋转方向定义，包括停止
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#define FORWARD_ROTATION 0
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#define BACKWARD_ROTATION 1
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#define STOP_ROTATION 6
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//运动方向、状态定义，与轮胎旋转方向定义兼容
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#define FORWARD 0
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#define BACKWARD 1
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#define FORLEFTWARD 2
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#define FORRIGHTWARD 3
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#define BACKLEFTWARD 4
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#define BACKRIGHTWARD 5
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#define STOP 6
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//默认全局速度比率
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#define DEFAULT_GLOBAL_SPEED_RATE 1.0
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//默认转向时一侧减速的比率
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#define DEFAULT_TRUN_SPEED_RATE -1.0
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//左侧 L298N 接口定义
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#define LEFT_L298N_IN1 24
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#define LEFT_L298N_IN2 25
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#define LEFT_L298N_IN3 26
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#define LEFT_L298N_IN4 27
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#define LEFT_L298N_ENA 8
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#define LEFT_L298N_ENB 9
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//右侧 L298N 接口定义
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#define RIGHT_L298N_IN1 28
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#define RIGHT_L298N_IN2 29
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#define RIGHT_L298N_IN3 30
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#define RIGHT_L298N_IN4 31
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#define RIGHT_L298N_ENA 10
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#define RIGHT_L298N_ENB 11
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class Move
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{
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public:
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Move();
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Move(float global_speed_rate);
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static void SetGlobalSpeedRate(float global_speed_rate); //设置全局速度比率
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static uint8_t GetCurrentMove(void); //获取当前运动方向
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static float GetCurrentSpeedRate(void); //获取当前运动速度比率
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static float GetCurrentTurnSpeedRate(void); //获取当前转向时一侧减速的比率
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static void Wheel(uint8_t wheel, uint8_t rotation, float speed_rate = 1.0); //控制某个轮子转动
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static void Forward(float speed_rate = 1.0); //前进
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static void Backward(float speed_rate = 1.0); //后退
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static void ForLeftward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前左转
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static void ForRightward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前右转
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static void BackLeftward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后左转
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static void BackRightward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后右转
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static void Stop(void); //制动
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static void MoveDirection(uint8_t direction, float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向某方向运动
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private:
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static float global_speed_rate; //全局速度比率
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static uint8_t current_direction; //当前运动状态
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static float current_speed_rate; //当前运动速度比率
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static float current_turn_speed_rate; //当前转向时一侧减速的比率
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};
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#endif |