Initial Commit

Sources/Swift2dCar/Vehicle.swift

@@ -0,0 +1,67 @@
+//
+//  Vehicle.swift
+//
+//
+//  Created by Michael Pivato on 8/5/20.
+//
+
+import Foundation
+import SwiftyGPIO
+
+
+protocol Vehicle2D{
+    var throttle: Float {get set}
+    var steering: Float {get set}
+    mutating func move2D(magnitude: Float, angle: Float)
+}
+
+class MockVehicle: Vehicle2D {
+    var throttle: Float = 0
+    var steering: Float = 0
+    
+    func move2D(magnitude: Float, angle: Float) {
+        
+    }
+}
+
+class RPiVehicle2D: Vehicle2D{
+    public var pwmThrottle: Servo
+    public var pwmSteering: Servo
+    
+    var throttle: Float{
+        get{
+            return pwmThrottle.value
+        }
+        set(value){
+            pwmThrottle.value = value
+        }
+    }
+    
+    var steering: Float{
+        get{
+            return pwmSteering.value
+        }
+        set(value){
+            pwmSteering.value = value
+        }
+    }
+    
+    init(withThrottlePin: Servo, withSteeringPin: Servo){
+        pwmThrottle = withThrottlePin
+        pwmSteering = withSteeringPin
+    }
+    
+    func calibrate(){
+        // Define a function that indicates how the throttle/steering should be set for given magnitude/angle to move.
+    }
+    
+    func move2D(magnitude: Float, angle: Float) {
+        
+    }
+    
+    func stop(){
+        pwmThrottle.detach()
+        pwmSteering.detach()
+    }
+    
+}