60 lines
1.0 KiB
Swift
60 lines
1.0 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 SwiftyGPIO
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public protocol Vehicle2D{
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var throttle: Float {get set}
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var steering: Float {get set}
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}
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public class MockVehicle: Vehicle2D {
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public var throttle: Float = 0
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public var steering: Float = 0
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public init(){
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}
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}
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open class RPiVehicle2D: Vehicle2D{
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var pwmThrottle: Servo
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var pwmSteering: Servo
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public var throttle: Float{
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get{
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return pwmThrottle.value
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}
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set(value){
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pwmThrottle.value = value
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}
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}
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public var steering: Float{
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get{
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return pwmSteering.value
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}
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set(value){
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pwmSteering.value = value
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}
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}
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public init(withThrottlePin: Servo, withSteeringPin: Servo){
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pwmThrottle = withThrottlePin
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pwmSteering = withSteeringPin
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}
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func stop(){
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pwmThrottle.detach()
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pwmSteering.detach()
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}
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}
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