source/libr2c2/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 const char *SimpleController::enumerate_controls(unsigned index) const
  27 {
  28         if(index==0)
  29                 return target_speed.name.c_str();
  30         else if(index==1)
  31                 return reverse.name.c_str();
  32         else
  33                 return 0;
  34 }
  35
  36 void SimpleController::set_control(const string &name, float v)
  37 {
  38         if(name==target_speed.name)
  39         {
  40                 target_speed.set(v);
  41                 signal_control_changed.emit(target_speed);
  42         }
  43         else if(name==reverse.name)
  44         {
  45                 if(target_speed.value || speed)
  46                         throw InvalidState("Must be stopped to change reverse");
  47                 reverse.set(v);
  48                 signal_control_changed.emit(reverse);
  49         }
  50 }
  51
  52 const Controller::Control &SimpleController::get_control(const string &name) const
  53 {
  54         if(name==target_speed.name)
  55                 return target_speed;
  56         else if(name==reverse.name)
  57                 return reverse;
  58         else
  59                 throw KeyError("Unknown control", name);
  60 }
  61
  62 float SimpleController::get_braking_distance() const
  63 {
  64         return speed*speed/(2*accel);
  65 }
  66
  67 void SimpleController::tick(const Time::TimeDelta &dt)
  68 {
  69         float secs = dt/Time::sec;
  70         if(speed<target_speed.value)
  71         {
  72                 speed += secs*accel;
  73                 if(speed>target_speed.value)
  74                         speed = target_speed.value;
  75         }
  76         else if(speed>target_speed.value)
  77         {
  78                 speed -= secs*accel;
  79                 if(speed<target_speed.value)
  80                         speed = target_speed.value;
  81         }
  82 }
  83
  84 } // namespace R2C2