26f50f6055
new options allow controlling vehicle's heading while reversing skid-steering vehicles rotate in opposite direction when backing up
21 lines
679 B
C++
21 lines
679 B
C++
#include "mode.h"
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#include "Rover.h"
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void ModeManual::update()
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{
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// check for radio failsafe
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if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
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g2.motors.set_throttle(0.0f);
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g2.motors.set_steering(0.0f);
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} else {
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float desired_steering, desired_throttle;
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get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
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// copy RC scaled inputs to outputs
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g2.motors.set_throttle(desired_throttle);
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g2.motors.set_steering(desired_steering);
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}
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// mark us as in_reverse when using a negative throttle to stop AHRS getting off
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rover.set_reverse(is_negative(g2.motors.get_throttle()));
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}
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