DifferentialDrive.h

#pragma once
 
#include "Thing.h"
 
namespace RoboidControl {
 
class DifferentialDrive : public Thing {
 public:
  DifferentialDrive();
  DifferentialDrive(Participant* participant, unsigned char thingId = 0);
  DifferentialDrive(Thing* parent, unsigned char thingId = 0);
 
  void SetDriveDimensions(float wheelDiameter, float wheelSeparation);
  void SetMotors(Thing* leftWheel, Thing* rightWheel);
 
  void SetWheelVelocity(float speedLeft, float speedRight);
 
  virtual void Update(unsigned long currentMs, bool recursive = true) override;
 
 protected:
  float wheelRadius = 1.0f;
  float wheelSeparation = 1.0f;
 
  float rpsToMs = 1.0f;
 
  Thing* leftWheel = nullptr;
  Thing* rightWheel = nullptr;
};
 
}  // namespace RoboidControl