53 lines
1.7 KiB
Swift
53 lines
1.7 KiB
Swift
//
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// Vehicle.swift
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//
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//
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// Created by Michael Pivato on 8/5/20.
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//
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import Foundation
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import Swift2dCar
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public typealias ThrottleHandler = (_ magnitude: Float) -> Float
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public typealias SteeringHandler = (_ angle: Float) -> Float
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public class IntelligentPiCar : RPiVehicle2D {
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private var vehicleLength: Float?
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private var throttleFunc: ThrottleHandler?
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private var steeringFunc: SteeringHandler?
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/**:
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Calibration function for how the car moves (acoording to a bicycle model) for a given throttle/steering angle. This sets the way the
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- Parameters
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- carLength
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*/
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func calibrate(vehicleLength: Float, throttleFunc: @escaping ThrottleHandler, steeringFunc: @escaping SteeringHandler){
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// Define a function that indicates how the throttle/steering should be set for given magnitude/angle to move.
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self.vehicleLength = vehicleLength
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self.throttleFunc = throttleFunc
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self.steeringFunc = steeringFunc
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}
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/**
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Move the car by the given magnitude and angle, depending on how the is known to move with apriori throttle/steering.
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*/
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func move2D(magnitude: Float, angle: Float) {
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if let throttleFunc = self.throttleFunc {
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// self.pwmThrottle.value = throttleFunc(magnitude)
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}
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if let steeringFunc = steeringFunc {
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// self.pwmSteering.value = steeringFunc(angle)
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}
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}
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/**
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Move to the coordinates relative to the car. You must first calibrate the car. A bicycle model is assumed.
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*/
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func moveRelativeTo2D(x: Float, y: Float) {
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// TODO: This function, has a lot of edge cases. Also is really
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}
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}
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