Rename the project to R²C²

[r2c2.git] / source / libr2c2 / simplecontroller.cpp

diff --git a/source/libr2c2/simplecontroller.cpp b/source/libr2c2/simplecontroller.cpp
new file mode 100644 (file)
index 0000000..7f8b336
--- /dev/null
+++ b/source/libr2c2/simplecontroller.cpp
@@ -0,0 +1,74 @@
+/* $Id$
+
+This file is part of R²C²
+Copyright © 2010  Mikkosoft Productions, Mikko Rasa
+Distributed under the GPL
+*/
+
+#include <msp/core/except.h>
+#include <msp/time/units.h>
+#include "simplecontroller.h"
+
+using namespace std;
+using namespace Msp;
+
+namespace R2C2 {
+
+SimpleController::SimpleController():
+       target_speed(Control::continuous("speed", 0, 1000)),
+       reverse(Control::binary("reverse")),
+       accel(0.07),
+       speed(0)
+{
+       target_speed.set(0);
+}
+
+void SimpleController::set_control(const string &name, float v)
+{
+       if(name=="speed")
+       {
+               target_speed.set(v);
+               signal_control_changed.emit(target_speed);
+       }
+       else if(name=="reverse")
+       {
+               if(target_speed.value || speed)
+                       throw InvalidState("Must be stopped to change reverse");
+               reverse.set(v);
+               signal_control_changed.emit(reverse);
+       }
+}
+
+const Controller::Control &SimpleController::get_control(const string &name) const
+{
+       if(name=="speed")
+               return target_speed;
+       else if(name=="reverse")
+               return reverse;
+       else
+               throw KeyError("Unknown control", name);
+}
+
+float SimpleController::get_braking_distance() const
+{
+       return speed*speed/(2*accel);
+}
+
+void SimpleController::tick(const Time::TimeDelta &dt)
+{
+       float secs = dt/Time::sec;
+       if(speed<target_speed.value)
+       {
+               speed += secs*accel;
+               if(speed>target_speed.value)
+                       speed = target_speed.value;
+       }
+       else if(speed>target_speed.value)
+       {
+               speed -= secs*accel;
+               if(speed<target_speed.value)
+                       speed = target_speed.value;
+       }
+}
+
+} // namespace R2C2