d:/PlatformIO/RoboidControl/DifferentialDrive.h

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#pragma once
 
#include "Propulsion.h"
 
namespace Passer {
namespace RoboidControl {
 
class DifferentialDrive : public Propulsion {
public:
  DifferentialDrive();
  // DifferentialDrive(Placement leftMotorPlacement,
  //                   Placement rightMotorPlacement);
 
  DifferentialDrive(Motor *leftMotor, Motor *rightMotor);
 
  void SetDimensions(float wheelDiameter, float wheelSeparation);
 
  void SetMotorTargetSpeeds(float leftSpeed, float rightSpeed);
 
  virtual void SetTwistSpeed(float forward, float yaw) override;
  virtual void SetTwistSpeed(Vector2 linear, float yaw = 0.0F);
  virtual void SetTwistSpeed(Vector3 linear, float yaw = 0.0F,
                             float pitch = 0.0F, float roll = 0.0F);
 
  virtual void SetVelocity(Polar velocity);
 
  virtual Polar GetVelocity() override;
  virtual float GetAngularVelocity() override;
 
protected:
  float wheelDiameter = 1.0F;   // in meters
  float wheelSeparation = 1.0F; // in meters;
 
  float rpsToMs = 1.0F; // convert revolutions per second to meters per second
};
 
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;