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);
 
  void SetTargetSpeeds(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);
};
 
}  // namespace RoboidControl
}  // namespace Passer
using namespace Passer::RoboidControl;