dtrobots/rover/control.go

package main

import (
	"fmt"
	"log"

	"douglasthrift.net/dtrobots/gamepad"
)

// drive modes
const (
	tank = iota
	joystick
)

const driveModeCount = 2

type driveMode int

func (d driveMode) String() string {
	switch d {
	case tank:
		return "tank"
	case joystick:
		return "joystick"
	default:
		return "unknown"
	}
}

func (d *driveMode) Set(value string) error {
	switch value {
	case "tank":
		*d = tank
	case "joystick":
		*d = joystick
	default:
		return fmt.Errorf("unknown drive mode: %v", value)
	}
	return nil
}

func control(mode driveMode, g *gamepad.Gamepad) {
	log.Printf("control loop started (drive mode: %v)", mode)
	for {
		select {
		case e := <-g.LeftAnalog:
			log.Println("left analog", e)
		case e := <-g.RightAnalog:
			log.Println("right analog", e)
		case e := <-g.DPad:
			log.Println("dpad", e)
		case e := <-g.A:
			log.Println("a", e)
		case e := <-g.B:
			log.Println("b", e)
		case e := <-g.X:
			log.Println("x", e)
		case e := <-g.Y:
			log.Println("y", e)
		case e := <-g.Left:
			log.Println("left", e)
		case e := <-g.Right:
			log.Println("right", e)
		case e := <-g.Back:
			log.Println("back", e)
		case e := <-g.Start:
			log.Println("start", e)
		case e := <-g.Logitech:
			if e.IsButtonPress() {
				mode++
				mode %= driveModeCount
				log.Printf("switched drive mode: %v", mode)
			}
		}
	}
}