Diff: wheel.cpp

Revision:

0:43eb9ccc1583

Child:

3:ea5cfd721b53

diff -r 000000000000 -r 43eb9ccc1583 wheel.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/wheel.cpp	Sat Aug 08 23:54:01 2020 +0000
@@ -0,0 +1,70 @@
+#include "wheel.h"
+
+/**
+ * @brief  Constractor of Wheel class
+ * @param  pCanController: Address of CAN controller
+ * @param  pPlcController: Address of PLC controller
+*/
+Wheel::Wheel(CANController *pCanController, PLCController *pPlcController )
+:_leftWheel( lWheelID, pCanController ), _rightWheel( rWheelID, pCanController ),
+_brake(brakePin, pPlcController),
+_brakeState(0)
+{}
+
+/**
+ * @brief  Initialize wheels
+ * @param  None
+ * @retval None
+*/
+void Wheel::init(){
+    _leftWheel.motorInit();
+    _rightWheel.motorInit();
+}
+
+/**
+ * @brief  Drive wheels
+ * @param  None
+ * @retval None
+*/
+void Wheel::drive(){
+    if( _brakeState == 1 ){
+        _brake = 0;
+        _brakeState = 0;
+        wait(0.5);
+    }
+    _leftWheel.drive();
+    _rightWheel.drive();
+}
+
+/**
+ * @brief  Stop wheels
+ * @param  None
+ * @retval None
+*/
+void Wheel::stop(){
+    _leftWheel.stop();
+    _rightWheel.stop();
+}
+
+/**
+ * @brief  Sets angular velocities of wheels
+ * @param  lVelocity: Anguglar velocity of the left wheel [rpm]
+ * @param  rVelocity: Anguglar velocity of the right wheel  [rpm]
+ * @retval None
+*/
+void Wheel::setVelocity( float lVelocity, float rVelocity ){
+    _leftWheel.setAngularVelocity( lVelocity );
+    _rightWheel.setAngularVelocity( rVelocity );
+}
+
+/**
+ * @brief  Stop wheels and Turn on the wheels' brake
+ * @param  None
+ * @retval None
+*/
+void Wheel::brake(){
+    Wheel::stop();
+    wait(0.1);
+    _brake = 1;
+    _brakeState = 1;
+}
\ No newline at end of file