wiselib.testing/external_interface/pc/roomba_angle.h

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// vim: set noexpandtab ts=4 sw=4:

#ifndef ROOMBA_ANGLE_H
#define ROOMBA_ANGLE_H

namespace wiselib {
   
   template<typename Math_P>
   class RoombaAngle {
      public:
         typedef Math_P Math;
         
         static const double GAUGE = 1.0;
         
         RoombaAngle() : radians_(0) { };
         RoombaAngle(double radians) : radians_(radians) { };
         
         RoombaAngle& operator=(RoombaAngle& other) {
            radians_ = other.radians_;
            return *this;
         }
         
         RoombaAngle& operator=(double r) {
            radians_ = r;
            return *this;
         }
         
         RoombaAngle& operator+=(double r) {
            radians_ += r;
            return *this;
         }
         
         operator double() { return radians_; }
         
         int16_t roomba_units_() {
            // Roomba uses a system where 1 unit equals 3 degrees
            return Math::round(Math::radians_to_degrees(radians_ / GAUGE)) % 120;
         }
         
         void set_roomba_units_(int16_t r) {
            radians_ = Math::degrees_to_radians(r * GAUGE);
         }
      private:
         double radians_;
   };
   
}

#endif // ROOMBA_ANGLE_H