25 lines
727 B
C++
25 lines
727 B
C++
#pragma once
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#include <mutex>
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#include <vector>
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#include <iostream>
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class ControlModule
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{
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private:
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mutable std::mutex mtx;
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float motors[4]; //LeftFront; RightFront; LeftBack; RightBack
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float forwardSpeed;
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float rotateSpeed;
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float moveSideSpeed;
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public:
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ControlModule(/* args */);
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ControlModule(float forwardSpeed, float rotateSpeed, float moveSideSpeed);
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~ControlModule();
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void moveForward();
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void moveSide(int imageColumsMiddle, int contourColumsMiddle);
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void rotate(int angle);
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void unit(); //Brings the max Value to 1.0
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void calcSpeeds(int imageColumsMiddle, int contourColumsMiddle, int angle); //Funktion to be called
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std::vector<float> readMotors();
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}; |