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ElegooManualDriver.h
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ElegooManualDriver.h
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#ifndef __ELEGOO_MANUAL_DRIVER_H__
#define __ELEGOO_MANUAL_DRIVER_H__
#include "ElegooDriverBase.h"
// is interruptible
class ElegooManualDriver: public ElegooDriverBase
{
public:
ElegooManualDriver(int pSafetyDistanceInCM, ElegooDistanceUnit & pDistUnit, ElegooMotorUnit & pMotorUnit) :
ElegooDriverBase(pSafetyDistanceInCM, pDistUnit, pMotorUnit)
{
}
virtual ~ElegooManualDriver()
{
}
virtual int processCommand(ElegooCommand cmd)
{
if (checkFrontForObstacles(cmd) == ElegooConstants::STOPPED)
{
return motorUnit.statusOK();
}
switch (cmd)
{
case ElegooCommand::MOVE_FORWARDS:
return motorUnit.moveForwards(1000).stopMoving().statusOK();
case ElegooCommand::MOVE_BACKWARDS:
return motorUnit.moveBackwards().stopMoving().statusOK();
case ElegooCommand::HALF_RIGHT:
return motorUnit.turnHalfRight().stopMoving().statusOK();
case ElegooCommand::TURN_RIGHT:
return motorUnit.turnRight().stopMoving().statusOK();
case ElegooCommand::HALF_LEFT:
return motorUnit.turnHalfLeft().stopMoving().statusOK();
case ElegooCommand::TURN_LEFT:
return motorUnit.turnLeft().stopMoving().statusOK();
default:
return motorUnit.statusOK();
}
}
};
#endif