//-----------------------------------------------------------------------------
void CCBRobot::quit()
{
if ( mCBDrivetrain )
mCBDrivetrain->stop();
mCBDriver->setSpeed(CVelocity2d(0,0,0));
mFgRunning = false;
}
//-----------------------------------------------------------------------------
CStageDrivetrain2dof::CStageDrivetrain2dof ( Stg::ModelPosition* stgModel,
std::string devName )
: ADrivetrain2dof ( devName )
{
assert ( stgModel );
mStgPosition = stgModel;
mFgEnabled = false;
mStgPosition->GetWorld()->AddUpdateCallback ( ( Stg::stg_world_callback_t )
positionUpdate,
this );
mOdometry = new CStageOdometry ( mStgPosition, devName + ":odometry" );
assert ( mOdometry );
// velocity limits
mUpperVelocityLimit = CVelocity2d( 1.0, 0.0, D2R(60.0) );
mLowerVelocityLimit = CVelocity2d(-1.0, 0.0, -D2R(60.0) );
// acceleration limits
mTransAccelLimit.setLimit(-1.0, 1.0);
mRotatAccelLimit.setLimit(-D2R(30.0), D2R(30.0));
setEnabled ( true );
}