Line data    Source code

       1             : #include "Rover.h"
       2             : 
       3        3292 : void ModeHold::update()
       4             : {
       5        3292 :     float throttle = 0.0f;
       6             : 
       7             :     // if vehicle is balance bot, calculate actual throttle required for balancing
       8        3292 :     if (rover.is_balancebot()) {
       9         954 :         rover.balancebot_pitch_control(throttle);
      10             :     }
      11             : 
      12             :     // relax mainsail
      13        3292 :     g2.sailboat.relax_sails();
      14             : 
      15             :     // hold position - stop motors and center steering
      16        3292 :     g2.motors.set_throttle(throttle);
      17        3292 :     g2.motors.set_steering(0.0f);
      18        3292 : }