int Mobot_moveForwardNB(mobot_t* comms, double angle)
{
switch(comms->formFactor) {
case MOBOTFORM_ORIGINAL:
return Mobot_moveNB(comms, angle, 0, 0, angle);
case MOBOTFORM_I:
return Mobot_moveNB(comms, angle, 0, -angle, 0);
default:
return -1;
}
}
int Mobot_turnRightNB(mobot_t* comms, double angle, double radius, double tracklength)
{
double theta;
theta = (angle*tracklength)/(2*radius);
switch(comms->formFactor) {
case MOBOTFORM_ORIGINAL:
return Mobot_moveNB(comms, theta, 0, 0, -theta);
case MOBOTFORM_I:
return Mobot_moveNB(comms, theta, 0, theta, 0);
default:
return -1;
}
}
int MainWindow::moveNB (const QString& address, double angle1, double angle2, double angle3, double angle4) {
auto it = m_connectedRobots.find(address);
if (m_connectedRobots.end() == it) {
return -1;
}
return Mobot_moveNB(it->second, angle1, angle2, angle3, angle4);
}
int Mobot_move(mobot_t* comms,
double angle1,
double angle2,
double angle3,
double angle4)
{
Mobot_moveNB(comms,
angle1,
angle2,
angle3,
angle4);
/* Wait for the motion to complete */
return Mobot_moveWait(comms);
}