DifferentialControl.hpp

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#pragma once
 
#include "../../motor/Motor.hpp"
#include "../Control.hpp"
 
class DifferentialControl : public Control
{
public:
    DifferentialControl(Motor& leftMotor, Motor& rightMotor);
 
    /* Check `Control` interface for documentation */
    void setAngle(int angle) override;
 
    /* Check `Control` interface for documentation */
    void setSpeed(int speed) override;
 
    /* Check `Control` interface for documentation */
    void overrideMotorSpeed(int firstMotorSpeed, int secondMotorSpeed) override;
 
private:
    void setMotors();
    Motor& mLeftMotor;
    Motor& mRightMotor;
    int mAngle{ 0 };
    int mSpeed{ 0 };
};