From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Tue, 15 Jun 2021 12:41:09 +0000 (+0200)
Subject: Add gobackward ctrl
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/simple-stage.git/commitdiff_plain/c58d2e44bd3114f52adb56f18815ca0bea885b91

Add gobackward ctrl
---

diff --git a/README.md b/README.md
index 33e0120..233e797 100644
--- a/README.md
+++ b/README.md
@@ -57,4 +57,7 @@ Test race track
 The _test race track_ and `tx2-auto-3` are used in F1/10 project of [IID][]
 group. The `libgoforward` controls the robot to just go straight.
 
+`libgobackward` is the same as `libgoforward` but with the negative speed. It's
+written in more OOP way.
+
 [IID]: https://iid.ciirc.cvut.cz/
diff --git a/ctrl/gobackward.cc b/ctrl/gobackward.cc
new file mode 100644
index 0000000..9a8b2a1
--- /dev/null
+++ b/ctrl/gobackward.cc
@@ -0,0 +1,21 @@
+#include "stage.hh"
+using namespace Stg;
+
+class ControlledRobot {
+private:
+	ModelPosition *pos = nullptr;
+public:
+	ControlledRobot(Model *m) : pos(dynamic_cast<ModelPosition *>(m))
+	{
+		assert(this->pos != nullptr);
+		this->pos->Subscribe();
+	}
+	ModelPosition *get_pos() const { return this->pos; }
+};
+
+extern "C" int Init(Model *model, CtrlArgs *)
+{
+	auto r = new ControlledRobot(model);
+	r->get_pos()->SetXSpeed(-3.0);
+	return 0;
+}
diff --git a/meson.build b/meson.build
index b343b50..cc911ce 100644
--- a/meson.build
+++ b/meson.build
@@ -9,3 +9,8 @@ library('goforward',
 	dependencies: stgdep,
 	include_directories: stginc,
 )
+library('gobackward',
+	'ctrl/gobackward.cc',
+	dependencies: stgdep,
+	include_directories: stginc,
+)