32 lines
593 B
C++
32 lines
593 B
C++
#pragma once
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class Motormixer
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{
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public:
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struct Output
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{
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float leftMotor;
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float rightMotor;
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};
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struct Scaling
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{
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float throttle;
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float steering;
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};
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//! @param throttle in [-1, 1]
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//! @param steering in [-1, 1]
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Output calculate(float throttle, float steering);
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void setInputScale(Scaling scale);
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void setOutputScale(float scale);
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void setDeadzone(float deadzone);
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Motormixer() = default;
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private:
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Scaling m_inputScale = {0.3f, 1.0f};
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float m_outputScale = 100.0f;
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float m_deadzone = 0.1;
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}; |