rover_driving.hpp

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/*
 * Copyright (c) 2017 FH Dortmund and others
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Description:
 *    Rover Driving API - Interfaces for Rover driving application development - Header file
 *
 * Contributors:
 *    M.Ozcelikors <mozcelikors@gmail.com>, created API 17.11.2017
 *
 */

#ifndef API_ROVER_DRIVING_HPP_
#define API_ROVER_DRIVING_HPP_

namespace rover
{
    /* Rover driving speeds */
    static const int LOWEST_SPEED = 360;

    static const int HIGHEST_SPEED = 480;

    static const int STOPPING_SPEED = 0;

    class RoverDriving
    {
        private:
            int SPEED;

            int ROVERDRIVING_INIT_;

        public:

            explicit RoverDriving();

            ~RoverDriving();

            void initialize();

            void stopRover();

            void setSpeed (const int speed_setpoint);

            int getSpeed (void);

            void differentialDrive(const float angular_speed, const float linear_speed );

            void goForward ();

            void goBackward ();

            void turnRight ();

            void turnLeft ();

            void turnForwardLeft ();

            void turnForwardRight ();

            void turnBackwardLeft ();

            void turnBackwardRight ();

    };
}


#endif /* API_ROVER_DRIVING_HPP_ */