1 #include <msp/core/maputils.h>
2 #include <msp/time/units.h>
3 #include "simplecontroller.h"
10 SimpleController::SimpleController():
11 target_speed(Control::continuous("speed", 0, 1000)),
12 reverse(Control::binary("reverse")),
19 const char *SimpleController::enumerate_controls(unsigned index) const
22 return target_speed.name.c_str();
24 return reverse.name.c_str();
29 void SimpleController::set_control(const string &name, float v)
31 if(name==target_speed.name)
34 signal_control_changed.emit(target_speed);
36 else if(name==reverse.name)
38 if(target_speed.value || speed)
39 throw logic_error("Must be stopped to change reverse");
41 signal_control_changed.emit(reverse);
45 const Controller::Control &SimpleController::get_control(const string &name) const
47 if(name==target_speed.name)
49 else if(name==reverse.name)
52 throw key_error(name);
55 float SimpleController::get_braking_distance() const
57 return speed*speed/(2*accel);
60 void SimpleController::tick(const Time::TimeDelta &dt)
62 float secs = dt/Time::sec;
63 if(speed<target_speed.value)
66 if(speed>target_speed.value)
67 speed = target_speed.value;
69 else if(speed>target_speed.value)
72 if(speed<target_speed.value)
73 speed = target_speed.value;