100 lines
2.5 KiB
Swift
100 lines
2.5 KiB
Swift
//
|
|
// 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}
|
|
}
|
|
|
|
class MockVehicle: Vehicle2D {
|
|
var throttle: Float = 0
|
|
var steering: Float = 0
|
|
}
|
|
|
|
public 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 stop(){
|
|
pwmThrottle.detach()
|
|
pwmSteering.detach()
|
|
}
|
|
|
|
}
|
|
|
|
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
|
|
}
|
|
}
|