You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
|
|
|
|
#include "mode.h"
|
|
|
|
|
#include "Rover.h"
|
|
|
|
|
|
|
|
|
|
void ModeManual::_exit()
|
|
|
|
|
{
|
|
|
|
|
// clear lateral when exiting manual mode
|
|
|
|
|
g2.motors.set_lateral(0);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void ModeManual::update()
|
|
|
|
|
{
|
|
|
|
|
float desired_steering, desired_throttle, desired_lateral;
|
|
|
|
|
get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
|
|
|
|
|
get_pilot_desired_lateral(desired_lateral);
|
|
|
|
|
|
|
|
|
|
// copy RC scaled inputs to outputs
|
|
|
|
|
g2.motors.set_throttle(desired_throttle);
|
|
|
|
|
g2.motors.set_steering(desired_steering, false);
|
|
|
|
|
g2.motors.set_lateral(desired_lateral);
|
|
|
|
|
}
|
