52 lines
1.1 KiB
C++
52 lines
1.1 KiB
C++
#include "create/types.h"
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namespace create {
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RobotModel::RobotModel(const ProtocolVersion version, const float axleLength, const unsigned int baud, const float maxVelocity, const float wheelDiameter):
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id(nextId),
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version(version),
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axleLength(axleLength),
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baud(baud),
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maxVelocity(maxVelocity),
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wheelDiameter(wheelDiameter) {
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nextId <<= 1;
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}
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bool RobotModel::operator ==(RobotModel& other) const {
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return id == other.id;
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}
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RobotModel::operator uint32_t() const {
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return id;
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}
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uint32_t RobotModel::getId() const {
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return id;
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}
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ProtocolVersion RobotModel::getVersion() const {
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return version;
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}
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float RobotModel::getAxleLength() const {
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return axleLength;
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}
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unsigned int RobotModel::getBaud() const {
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return baud;
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}
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float RobotModel::getMaxVelocity() const {
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return maxVelocity;
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}
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float RobotModel::getWheelDiameter() const {
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return wheelDiameter;
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}
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uint32_t RobotModel::nextId = 1;
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RobotModel RobotModel::ROOMBA_400(V_1, 0.258, 57600);
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RobotModel RobotModel::CREATE_1(V_2, 0.258, 57600);
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RobotModel RobotModel::CREATE_2(V_3, 0.235, 115200, 0.5, 0.072);
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}
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