TankDrivePWM.h

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#ifndef TankDrivePWM_h
#define TankDrivePWM_h
 
#include "ServoDispatch.h"
#include "drive/TankDrive.h"
 
class TankDrivePWM : public TankDrive
{
public:
    TankDrivePWM(ServoDispatch& dispatch, uint8_t leftNum, uint8_t rightNum, JoystickController& driveStick) :
        TankDrivePWM(dispatch, leftNum, rightNum, 0, driveStick)
    {
    }
 
    TankDrivePWM(ServoDispatch& dispatch, uint8_t leftNum, uint8_t rightNum, int throttleNum, JoystickController& driveStick) :
        TankDrive(driveStick),
        fDispatch(dispatch),
        fLeft(leftNum),
        fRight(rightNum),
        fThrottle(throttleNum)
    {
        setMaxSpeed(1.0f);
    }
 
    virtual void setup() override
    {
    }
 
    virtual void stop() override
    {
        fDispatch.moveTo(fLeft, 0.5);
        fDispatch.moveTo(fRight, 0.5);
        TankDrive::stop();
    }
 
protected:
    ServoDispatch& fDispatch;
    uint8_t fLeft;
    uint8_t fRight;
    int fThrottle;
 
    virtual void motor(float left, float right, float throttle) override
    {
        left = map(left, -1.0f, 1.0f, 0.0f, 1.0f);
        right = map(right, -1.0f, 1.0f, 0.0f, 1.0f);
 
        Serial.print("M "); Serial.print(left); Serial.print(", "); Serial.print(right);Serial.print(", "); Serial.println(throttle);
        throttle = 1.0;
        if (fThrottle != -1)
        {
            fDispatch.moveTo(fLeft, left);
            fDispatch.moveTo(fRight, right);
            fDispatch.moveTo(fThrottle, throttle);
        }
        else
        {
            left *= throttle;
            right *= throttle;
            fDispatch.moveTo(fLeft, left);
            fDispatch.moveTo(fRight, right);
        }
    }
 
    virtual bool hasThrottle() override
    {
        return (fThrottle != -1);
    }
 
    static float map(float x, float in_min, float in_max, float out_min, float out_max)
    {
        return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
    }
};
#endif