// Checks throttle to see if we should accelerate or decelerate the vehicle
void checkAccel() {
float rate = MAX_SPEED / (ACCEL_RATE * 100);
// Updated every 10 ms
if(currentTime > lastAccel + 10) {
if(throttle < 0) {
current_speed -= rate;
if(current_speed < 1) current_speed = 0;
} else if(throttle > 0) {
current_speed += rate;
if(current_speed > MAX_SPEED) { // Limiter
current_speed = MAX_SPEED;
if(gHaptic != NULL) {SDL_HapticRumblePlay( gHaptic, 0.5, 1000); printf("DEBUG HAPTIC\n"); }
}
}
send_speed();
lastAccel = currentTime;
}
}
void mike::clear_led()
{
speed.speed = 0;
send_speed();
}
void mike::set_led(speech::led led, speech::speed speed)
{
this->speed.speed &= ~(static_cast<unsigned>(speech::speed::mask) << static_cast<unsigned>(led));
this->speed.speed |= static_cast<unsigned>(speed) << static_cast<unsigned>(led);
send_speed();
}
