forked from StopPointTeam/TaiChi
75 lines
1.8 KiB
C++
75 lines
1.8 KiB
C++
#ifndef MOVE_H
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#define MOVE_H
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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 3
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//运动状态定义
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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 BACKLEFTWARD 3
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#define FORRIGHTWARD 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 100
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//转向时一侧减速的比率
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#define TRUN_SPEED_RATE 50
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//左侧 L298N 接口定义
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#define LEFT_L298N_IN1 22
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#define LEFT_L298N_IN2 23
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#define LEFT_L298N_IN3 24
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#define LEFT_L298N_IN4 25
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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 26
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#define RIGHT_L298N_IN2 27
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#define RIGHT_L298N_IN3 28
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#define RIGHT_L298N_IN4 29
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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(int global_speed_rate);
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void SetGlobalSpeedRate(int global_speed_rate); //设置全局速度比率
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uint8_t GetCurrentMove(void); //获取当前运动方向
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int GetCurrentSpeedRate(void); //获取当前运动速度比率
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void Wheel(uint8_t wheel, uint8_t rotation, int speed_rate = 100); //控制某个轮子转动
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void Forward(int speed_rate = 100); //前进
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void Backward(int speed_rate = 100); //后退
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void ForLeftward(int speed_rate = 100); //向前左转
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void ForRightward(int speed_rate = 100); //向前右转
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void BackLeftward(int speed_rate = 100); //向后左转
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void BackRightward(int speed_rate = 100); //向后右转
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void Stop(void); //制动
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private:
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int global_speed_rate; //全局速度比率
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uint8_t current_move; //当前运动状态
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int current_speed_rate; //当前运动速度比率
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};
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#endif |