Line data    Source code

       1             : #include "Rover.h"
       2             : 
       3          83 : void ModeManual::_exit()
       4             : {
       5             :     // clear lateral when exiting manual mode
       6          83 :     g2.motors.set_lateral(0);
       7          83 : }
       8             : 
       9      362133 : void ModeManual::update()
      10             : {
      11             :     float desired_steering, desired_throttle, desired_lateral;
      12      362133 :     get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
      13      362133 :     get_pilot_desired_lateral(desired_lateral);
      14             : 
      15             :     // apply manual steering expo
      16      362133 :     desired_steering = 4500.0 * input_expo(desired_steering / 4500, g2.manual_steering_expo);
      17             : 
      18             :     // if vehicle is balance bot, calculate actual throttle required for balancing
      19      362133 :     if (rover.is_balancebot()) {
      20       31073 :         rover.balancebot_pitch_control(desired_throttle);
      21             :     }
      22             : 
      23             :     // walking robots support roll, pitch and walking_height
      24             :     float desired_roll, desired_pitch, desired_walking_height;
      25      362133 :     get_pilot_desired_roll_and_pitch(desired_roll, desired_pitch);
      26      362133 :     get_pilot_desired_walking_height(desired_walking_height);
      27      362133 :     g2.motors.set_roll(desired_roll);
      28      362133 :     g2.motors.set_pitch(desired_pitch);
      29      362133 :     g2.motors.set_walking_height(desired_walking_height);
      30             : 
      31             :     // set sailboat sails
      32      362133 :     g2.sailboat.set_pilot_desired_mainsail();
      33             : 
      34             :     // copy RC scaled inputs to outputs
      35      362133 :     g2.motors.set_throttle(desired_throttle);
      36      362133 :     g2.motors.set_steering(desired_steering, (g2.manual_options & ManualOptions::SPEED_SCALING));
      37      362133 :     g2.motors.set_lateral(desired_lateral);
      38      362133 : }