44 lines
1008 B
C++
44 lines
1008 B
C++
#pragma once
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#include <Arduino.h>
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class IRemote {
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public:
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//! @brief Attitude is the "pose" of the Hexapod
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//! without movement
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//!
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//! @arg roll/pitch Tilt it around. [-1, 1]
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//! @arg yaw Twist it. [-1, 1]
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//! @arg elevator Lower or raise it. [-1, 1]
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typedef struct {
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float roll;
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float pitch;
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float yaw;
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float elevator;
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} Attitude;
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//! @brief Movement consists of the target velocity for
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//!
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//! @arg vx Vel back/forward. [-1, 1]
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//! @arg vy Vel left/right. [-1, 1]
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//! @arg w Rotational speed. [-1, 1]
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typedef struct {
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float vx;
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float vy;
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float w;
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} Movement;
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typedef struct {
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Attitude attitude;
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Movement movement;
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bool isNew;
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} Output;
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virtual const Output& output() = 0;
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virtual void init() = 0;
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virtual void loop() = 0;
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virtual void registerCallback(void (*callback)(const Output&)) = 0;
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}; |