dji_holonomic_input.hpp

Go to the documentation of this file.

#ifndef FANG_ROBOTICS_MCB_CHASSIS_INPUT_HANDLER_HPP
#define FANG_ROBOTICS_MCB_CHASSIS_INPUT_HANDLER_HPP
#include "util/math/linear/vector_alias.hpp"
#include "wrap/units/units_alias.hpp"
#include "wrap/rail/chassis/iholonomic_input.hpp"
 
#include "tap/communication/serial/remote.hpp"
 
namespace fang::chassis 
{
    using Remote = tap::communication::serial::Remote;
    class DjiHolonomicInput : public IHolonomicInput
    {
    public:
        struct RemoteConfig
        {
            Remote::Channel xTranslationChannel;
            Remote::Channel yTranslationChannel;
            Remote::Channel rotationChannel;
        };
 
        struct KeyboardConfig
        {
            Remote::Key forwardKey;
            Remote::Key backwardKey;
            Remote::Key leftKey;
            Remote::Key rightKey;
        };
 
        struct Config
        {
            RemoteConfig remoteConfig;
            KeyboardConfig keyboardConfig;
        };
 
        DjiHolonomicInput(Remote& remote, const Config& config);
 
        math::AbstractVector2D getTranslation() const override;
 
        double getRotation() const override;
 
        math::AbstractVector2D getRemoteTranslation() const;
 
        math::AbstractVector2D getKeyboardTranslation() const;
 
        double getRemoteRotation() const;
    private:
        static constexpr double mk_abstractMax{1.0};
        static constexpr double mk_abstractMin{-1.0};
        static constexpr math::AbstractVector2D mk_forward{0.0, 1.0};
        static constexpr math::AbstractVector2D mk_backward{0.0, -1.0};
        static constexpr math::AbstractVector2D mk_left{-1.0, 0.0};
        static constexpr math::AbstractVector2D mk_right{1.0, 0.0};
        static constexpr math::AbstractVector2D mk_still{0.0, 0.0};
        Remote& m_remote;
        const RemoteConfig mk_remoteConfig;
        const KeyboardConfig mk_keyboardConfig;
    };
}//namespace fang::chassis 
#endif