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39 lines
569 B
39 lines
569 B
#pragma once |
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#include "ugv_io_gps.hh" |
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#include "ugv_io_mpu.hh" |
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namespace ugv { |
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namespace io { |
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using mpud::float_axes_t; |
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struct Inputs { |
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MpuData mpu; |
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GpsData gps; |
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}; |
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struct Outputs { |
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float left_motor; // left motor power -1.0 to +1.0 |
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float right_motor; // right motor power -1.0 to +1.0 |
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}; |
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class IOClass { |
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public: |
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explicit IOClass(); |
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~IOClass(); |
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void Init(); |
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void ReadInputs(Inputs &inputs); |
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void WriteOutputs(const Outputs &outputs); |
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private: |
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UART_GPS gps_; |
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MPU mpu_; |
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void InitMotors(); |
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}; |
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} // namespace io |
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} // namespace ugv
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