Rune Harlyk
60 lines
1.3 KiB
C++
60 lines
1.3 KiB
C++
#ifndef GAIT_STATE_H
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#define GAIT_STATE_H
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#include <Kinematics.h>
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class GaitState {
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private:
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public:
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GaitState() { ESP_LOGI("GaitState", "%s constructor", name); }
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virtual ~GaitState() = 0;
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virtual void begin() = 0;
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virtual void end() = 0;
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virtual void loop() = 0;
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const char *name;
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static body_state_t body_state;
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};
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class IdleState : public GaitState {
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public:
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IdleState() { name = "Idle"; }
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~IdleState() {}
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void begin() override { ESP_LOGI("GaitState", "IdleState begin"); }
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void end() override { ESP_LOGI("GaitState", "IdleState end"); }
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void loop() override { ESP_LOGI("GaitState", "IdleState loop"); }
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};
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class StandState : public GaitState {
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public:
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StandState() { name = "Stand"; }
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~StandState() {}
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void begin() override { ESP_LOGI("GaitState", "StandState begin"); }
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void end() override { ESP_LOGI("GaitState", "StandState end"); }
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void loop() override { ESP_LOGI("GaitState", "StandState loop"); }
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};
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class WalkState : public GaitState {
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public:
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WalkState() { name = "Walk"; }
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~WalkState() {}
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void begin() override { ESP_LOGI("GaitState", "WalkState begin"); }
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void end() override { ESP_LOGI("GaitState", "WalkState end"); }
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void loop() override { ESP_LOGI("GaitState", "WalkState loop"); }
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};
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#endif |