SmoothCellulo.lua
7bc7bcd85032master

SmoothCellulo.lua
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			local assertArgs = include "assertArgs"

			local util = include "util"

			local SmoothCellulo = lib "class" ("SmoothCellulo")

			SmoothCellulo:include(mixin "Angle")
			SmoothCellulo:include(mixin "Position")
			SmoothCellulo:include(mixin "_has" ("Cellulo"))

			local KIDNAPPED_STABILIZE_DELAY = 0.3

			function SmoothCellulo:initialize(args)
			assertArgs(args, "cellulo")
			self:setCellulo(args.cellulo)

			self:setPosition(args.cellulo:getX(), args.cellulo:getY(), 0)
			self:setAngle(args.cellulo:getTheta(), 0, 1, 0)

			self:updateTargetPose()
			self.kidnapped = true
			self.kidnappedTimer = KIDNAPPED_STABILIZE_DELAY

			return self
			end

			function SmoothCellulo:updateTargetPose()
			self.targetX, self.targetY, self.targetAngle = self:getCellulo():getX(), self:getCellulo():getY(), math.rad(self:getCellulo():getTheta())
			end

			function SmoothCellulo:update(dt)

			self:updateTargetPose()

			if self:getCellulo():getKidnapped() == 1 then
			self.kidnapped = true
			self.kidnappedTimer = KIDNAPPED_STABILIZE_DELAY
			end

			if self.kidnappedTimer then
			self.kidnappedTimer = self.kidnappedTimer - dt
			if self.kidnappedTimer <= 0 then
			self.kidnappedTimer = nil
			self.kidnapped = false

			-- released safely with stabilization, reset position to avoid jumping
			self.x, self.y, self.angle = self.targetX, self.targetY, self.targetAngle
			end
			end

			if not self.kidnapped then
			local LERP_POSITION = 5
			local LERP_ANGLE = 5
			self.x, self.y = util.lerp(self.x, self.targetX, LERP_POSITION * dt), util.lerp(self.y, self.targetY, LERP_POSITION * dt)
			self.angle = util.lerpAngle(self.angle, self.targetAngle, LERP_ANGLE * dt)
			end

			end

			function SmoothCellulo:getX() return self.x end
			function SmoothCellulo:getY() return self.y end
			function SmoothCellulo:getTheta() return self.angle end
			function SmoothCellulo:getConnectionStatus() return self:getCellulo():getConnectionStatus() end
			function SmoothCellulo:setHapticBackdriveAssist(...) return self:getCellulo():setHapticBackdriveAssist(...) end
			function SmoothCellulo:setGoalVelocity(...) return self:getCellulo():setGoalVelocity(...) end
			function SmoothCellulo:setGoalPose(...) return self:getCellulo():setGoalPose(...) end
			function SmoothCellulo:getKidnapped() return self.kidnapped end

			return SmoothCellulo

cellulo-lovr/class/SmoothCellulo.lua7bc7bcd85032master

SmoothCellulo.luaView Options

cellulo-lovr/class/SmoothCellulo.lua
7bc7bcd85032master

SmoothCellulo.lua
View Options