/* BTdrive.cpp

* contains methods for advanced drive operations i.e ramp-up

* UPDATE: Ramp-up methods removed

*/

#include "BTDrive.h"

BTDrive::BTDrive(ControlBoard* control_board):RobotDrive(PORTS::LEFT_DRIVE_MOTOR, PORTS::RIGHT_DRIVE_MOTOR, 0.5)

{

myControlBoard = control_board;

next_time = GetClock();

targetLeftSpeed = 0;

targetRightSpeed = 0;

currentLeftSpeed = 0;

currentRightSpeed = 0;

deltaLeftSpeed = 0;

deltaRightSpeed = 0;

actualLeftSpeed = 0;

actualRightSpeed = 0;

}

bool BTDrive::DoDrive(int algorithm, bool bAuto)

{

bool bValid = true;

if (!bAuto)

{

targetLeftSpeed = myControlBoard->GetY(ControlBoard::LEFT);

targetRightSpeed = myControlBoard->GetY(ControlBoard::RIGHT);

}

SetLeftRightMotorSpeeds(targetLeftSpeed * -1, targetRightSpeed * -1);

return bValid;

}