You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
37 lines
1.2 KiB
37 lines
1.2 KiB
using RobotLib.Communication;
|
|
using System.Collections.Generic;
|
|
using System.Text.Json;
|
|
|
|
namespace RobotLib.Movement
|
|
{
|
|
public class DevMovement : DevBase
|
|
{
|
|
private const string TOPIC_MOBILE_MODE = "/mobile/cmd/mode/";
|
|
private const string TOPIC_MOBILE_NAV_TURN = "/mobile/cmd/nav/turn/";
|
|
private const string TOPIC_MOBILE_NAV_MOVE = "/mobile/cmd/nav/move/";
|
|
private const string TOPIC_MOBILE_NAV_STOP = "/mobile/cmd/nav/stop/";
|
|
|
|
public DevMovement(IPublisherSubscriber com) : base(com, new List<string>() { }) { }
|
|
|
|
public void SetMobilityMode(bool automatic)
|
|
{
|
|
string payload = JsonSerializer.Serialize(new Dictionary<string, bool>() { { "automatic", automatic } });
|
|
base.SendMessage(TOPIC_MOBILE_MODE, payload);
|
|
}
|
|
|
|
public void Turn(int angle)
|
|
{
|
|
base.SendMessage(TOPIC_MOBILE_NAV_TURN, angle.ToString());
|
|
}
|
|
|
|
public void AddSpeed(int speed)
|
|
{
|
|
base.SendMessage(TOPIC_MOBILE_NAV_MOVE, speed.ToString());
|
|
}
|
|
|
|
public void Stop()
|
|
{
|
|
base.SendMessage(TOPIC_MOBILE_NAV_STOP, true.ToString());
|
|
}
|
|
}
|
|
}
|
|
|