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robot.go
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/
robot.go
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package robot
import (
"github.com/brunoga/robomaster2/internal/robot/service"
"github.com/brunoga/robomaster2/internal/robot/service/dji"
"github.com/brunoga/robomaster2/support"
)
type Robot struct {
logger *support.Logger
}
func NewRobot(logger *support.Logger) *Robot {
return &Robot{
logger,
}
}
func (r *Robot) SendPose(leftVertical, leftHorizontal, rightVertical,
rightHorizontal float32, isLeftCtl, isRightCtl bool, ctrlMode uint64) {
leftVerticalVal := int64(lerp(-660, 660, (leftVertical+1)*0.5) + 1024)
leftHorizontalVal := uint64(lerp(-660, 660, (leftHorizontal+1)*0.5) + 1024)
leftCtlVal := uint64(0)
if isLeftCtl {
leftCtlVal = 1
}
rightVerticalVal := uint64(lerp(-660, 660, (rightVertical+1)*0.5) + 1024)
rightHorizontalVal := uint64(lerp(-660, 660, (rightHorizontal+1)*0.5) + 1024)
rightCtlVal := uint64(0)
if isRightCtl {
rightCtlVal = 1
}
commandValue :=
uint64(leftVerticalVal) |
leftHorizontalVal<<11 |
rightVerticalVal<<22 |
rightHorizontalVal<<33 |
leftCtlVal<<44 |
rightCtlVal<<45 |
ctrlMode<<46
cc := service.DJICommandControllerInstance()
cc.DirectSendValue(dji.DJIMainControllerVirtualStick, int64(commandValue))
}
func lerp(a, b, t float32) float32 {
return a*(1-t) + b*t
}