d:/PlatformIO/RoboidControl/ControlledMotor.h

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#pragma once
 
#include "Encoder.h"
#include "Motor.h"
 
namespace Passer {
namespace RoboidControl {
 
class ControlledMotor : public Motor {
public:
  ControlledMotor();
  ControlledMotor(Motor *motor, Encoder *encoder);
 
  inline static bool CheckType(Thing *thing) {
    return (thing->type & (int)Thing::Type::ControlledMotor) != 0;
  }
  float velocity;
 
  float pidP = 0.1F;
  float pidD = 0.0F;
  float pidI = 0.0F;
 
  void Update(float currentTimeMs) override;
 
  virtual void SetTargetSpeed(float speed) override;
 
  virtual float GetActualSpeed() override;
 
  bool Drive(float distance);
 
  Motor *motor;
  Encoder *encoder;
 
protected:
  float lastUpdateTime = 0;
  float lastError = 0;
  // float targetSpeed;
  float actualSpeed;
  float netDistance = 0;
  float startDistance = 0;
 
  // enum Direction { Forward = 1, Reverse = -1 };
 
  // Direction rotationDirection;
 
  bool driving = false;
  float targetDistance = 0;
  float lastEncoderPosition = 0;
};
 
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;