Motor.hpp

[詳解]

//
//    通信経由モーター制御クラス
//
//    Copyright (c) 2022 udonrobo
//
 
#pragma once
 
#include <Udon/Stl/EnableSTL.hpp>
#include <algorithm>
 
#include <Udon/Com/Message/Motor.hpp>
#include <Udon/Traits/HasMemberFunction.hpp>
#include <Udon/Utility/Show.hpp>
#include <Udon/Traits/ReaderWriterTraits.hpp>
#include <Udon/Types/Direction.hpp>
 
namespace Udon
{

    template <template <typename> class Writer>
    class MotorBy
    {
        static_assert(Traits::IsWriter<Writer>::value, "Writer is not writer");
 
        using WriterType = Writer<Message::Motor>;
        WriterType writer;
 
        int16_t power;    // 出力値 -255 ~ 255
 
        Udon::Direction direction;    // 回転方向
 
    public:

        MotorBy(WriterType&& writer, Udon::Direction direction = Udon::Direction::Forward)
            : writer(std::move(writer))
            , power()
            , direction(direction)
        {
        }

        void move(int16_t p)
        {
            power = Constrain(p, (int16_t)-255, (int16_t)255);
            writer.setMessage({ static_cast<int16_t>(power * Udon::DirectionToSign(direction)) });
            Udon::Traits::MaybeInvokeUpdate(writer);
        }

        void stop()
        {
            move(0);
        }

        void show() const
        {
            Udon::Show(power);
        }
    };
 
}    // namespace Udon