simplecontroller.cpp

   1 /* $Id$
   2
   3 This file is part of R²C²
   4 Copyright © 2010  Mikkosoft Productions, Mikko Rasa
   5 Distributed under the GPL
   6 */
   7
   8 #include <msp/core/except.h>
   9 #include <msp/time/units.h>
  10 #include "simplecontroller.h"
  11
  12 using namespace std;
  13 using namespace Msp;
  14
  15 namespace R2C2 {
  16
  17 SimpleController::SimpleController():
  18         target_speed(Control::continuous("speed", 0, 1000)),
  19         reverse(Control::binary("reverse")),
  20         accel(0.07),
  21         speed(0)
  22 {
  23         target_speed.set(0);
  24 }
  25
  26 void SimpleController::set_control(const string &name, float v)
  27 {
  28         if(name=="speed")
  29         {
  30                 target_speed.set(v);
  31                 signal_control_changed.emit(target_speed);
  32         }
  33         else if(name=="reverse")
  34         {
  35                 if(target_speed.value || speed)
  36                         throw InvalidState("Must be stopped to change reverse");
  37                 reverse.set(v);
  38                 signal_control_changed.emit(reverse);
  39         }
  40 }
  41
  42 const Controller::Control &SimpleController::get_control(const string &name) const
  43 {
  44         if(name=="speed")
  45                 return target_speed;
  46         else if(name=="reverse")
  47                 return reverse;
  48         else
  49                 throw KeyError("Unknown control", name);
  50 }
  51
  52 float SimpleController::get_braking_distance() const
  53 {
  54         return speed*speed/(2*accel);
  55 }
  56
  57 void SimpleController::tick(const Time::TimeDelta &dt)
  58 {
  59         float secs = dt/Time::sec;
  60         if(speed<target_speed.value)
  61         {
  62                 speed += secs*accel;
  63                 if(speed>target_speed.value)
  64                         speed = target_speed.value;
  65         }
  66         else if(speed>target_speed.value)
  67         {
  68                 speed -= secs*accel;
  69                 if(speed<target_speed.value)
  70                         speed = target_speed.value;
  71         }
  72 }
  73
  74 } // namespace R2C2