DifferentialDrive.h

#pragma once
 
#include "Thing.h"
#include "Motor.h"
 
namespace RoboidControl {
 
class DifferentialDrive : public Thing {
 public:
  DifferentialDrive(Thing* parent = Thing::LocalRoot());
 
  DifferentialDrive(Motor* leftMotor, Motor* rightMotor, Thing* parent = Thing::LocalRoot());
 
  void SetDriveDimensions(float wheelDiameter, float wheelSeparation);
 
  // Motor& GetMotorLeft();
  // Motor& GetMotorRight();
  void SetMotors(Motor& leftMotor, Motor& rightMotor);
 
  void SetWheelVelocity(float speedLeft, float speedRight);
 
  virtual void Update(bool recursive = true) override;
 
  int GenerateBinary(char* bytes, unsigned char* ix) override;
  // virtual void ProcessBinary(char* bytes) override;
 
  Motor* leftWheel = nullptr;
  Motor* rightWheel = nullptr;
 
 protected:
  float wheelRadius = 0.0f;
  float wheelSeparation = 0.0f;
 
  float rpsToMs = 1.0f;
 
};
 
}  // namespace RoboidControl