EngineController.hpp

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#ifndef ENGINECONTROLLER_HPP
#define ENGINECONTROLLER_HPP
 
#include "IPeripheralController.hpp"
#include "enums.hpp"
#include <QObject>
#include <atomic>

class EngineController : public QObject {
    Q_OBJECT
 
private:
    const int MAX_ANGLE = 180;
    const int SERVO_CENTER_PWM = 340;
    const int SERVO_LEFT_PWM = 340 - 100;
    const int SERVO_RIGHT_PWM = 340 + 130;
    const int STEERING_CHANNEL = 0;
 
    std::atomic<bool> m_running;
    std::atomic<int> m_current_speed;
    std::atomic<int> m_current_angle;
    CarDirection m_currentDirection = CarDirection::Stop;
 
    void setDirection(CarDirection newDirection);
 
    IPeripheralController *pcontrol;
 
public:
    EngineController();
    EngineController(int servo_addr, int motor_addr, QObject *parent = nullptr);
    ~EngineController();
 
    void start();
    void stop();
    void set_speed(int speed);
    void set_steering(int angle);
 
signals:
    void directionUpdated(CarDirection newDirection);
    void steeringUpdated(int newAngle);
};
 
#endif // ENGINECONTROLLER_HPP