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This commit is contained in:
Piv
2020-09-02 21:36:18 +09:30
parent 4bb117e838
commit ba02e965a0
1 changed files with 8 additions and 51 deletions
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59
Sources/Swift2dCar/Vehicle.swift
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@@ -9,22 +9,22 @@ import Foundation
import SwiftyGPIO
protocol Vehicle2D{
public protocol Vehicle2D{
var throttle: Float {get set}
var steering: Float {get set}
}
class MockVehicle: Vehicle2D {
var throttle: Float = 0
var steering: Float = 0
public var throttle: Float = 0
public var steering: Float = 0
}
public class RPiVehicle2D: Vehicle2D{
open class RPiVehicle2D: Vehicle2D{
public var pwmThrottle: Servo
public var pwmSteering: Servo
var pwmThrottle: Servo
var pwmSteering: Servo
var throttle: Float{
public var throttle: Float{
get{
return pwmThrottle.value
}
@@ -33,7 +33,7 @@ public class RPiVehicle2D: Vehicle2D{
}
}
var steering: Float{
public var steering: Float{
get{
return pwmSteering.value
}
@@ -54,46 +54,3 @@ public class RPiVehicle2D: Vehicle2D{
}
}
public typealias ThrottleHandler = (_ magnitude: Float) -> Float
public typealias SteeringHandler = (_ angle: Float) -> Float
public class IntelligentPiCar : RPiVehicle2D {
private var vehicleLength: Float?
private var throttleFunc: ThrottleHandler?
private var steeringFunc: SteeringHandler?
/**:
Calibration function for how the car moves (acoording to a bicycle model) for a given throttle/steering angle. This sets the way the
- Parameters
- carLength
*/
func calibrate(vehicleLength: Float, throttleFunc: @escaping ThrottleHandler, steeringFunc: @escaping SteeringHandler){
// Define a function that indicates how the throttle/steering should be set for given magnitude/angle to move.
self.vehicleLength = vehicleLength
self.throttleFunc = throttleFunc
self.steeringFunc = steeringFunc
}
/**
Move the car by the given magnitude and angle, depending on how the is known to move with apriori throttle/steering.
*/
func move2D(magnitude: Float, angle: Float) {
if let throttleFunc = self.throttleFunc {
self.pwmThrottle.value = throttleFunc(magnitude)
}
if let steeringFunc = steeringFunc {
self.pwmSteering.value = steeringFunc(angle)
}
}
/**
Move to the coordinates relative to the car. You must first calibrate the car. A bicycle model is assumed.
*/
func moveRelativeTo2D(x: Float, y: Float) {
// TODO: This function, has a lot of edge cases. Also is really
}
}