RobotKit/RKDriveControl.h

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//
//  RKDriveControl.h
//  RobotKit
//
//  Copyright 2010 Orbotix Inc. All rights reserved.
//

#import <UIKit/UIKit.h>
#import <CoreMotion/CoreMotion.h>

@class RKRobotControl;
@class RKRobotProvider;
@class RKRobot;
@class RKAccelerometerFilter;

typedef enum _RKDriveControlType {
        RKDriveControlUserDefined,
        RKDriveControlJoyStick,
        RKDriveControlTilt
} RKDriveControlType;

@interface RKDriveControl : NSObject 
{
    @private
    CMMotionManager         *motionManager;
    NSOperationQueue        *motionQueue;
    RKAccelerometerFilter   *accelerometerFilter;
    
    BOOL                    driving;
    RKDriveControlType      driveControlType;
    double                  velocityScale;
    double                  stopOffset;
    CGSize                  joyStickSize;
    
    BOOL                    showsRobotLostControlAlert;
}

#pragma mark Object References

@property (nonatomic, readonly) RKRobotProvider *robotProvider;
@property (nonatomic, readonly) RKRobotControl  *robotControl;
@property (nonatomic, readonly) RKRobot *robot;
@property (nonatomic, readonly) CMMotionManager *motionManager;

#pragma mark Driving Properties

@property (nonatomic, readonly) BOOL driving;
@property (nonatomic, assign) CGSize joyStickSize;
@property (nonatomic, assign) UIInterfaceOrientation tiltOrientation;
@property (nonatomic, assign) double velocityScale;
@property (nonatomic, assign) double stopOffset;
@property (nonatomic, assign) id driveTarget;
@property (nonatomic, assign) SEL driveConversionAction;

#pragma mark State Properties

@property (nonatomic, assign) BOOL handlesCoreMotionUpdates;
@property (nonatomic, assign) BOOL showsRobotLostControlAlert;


+ (RKDriveControl *)sharedDriveControl;

- (void)setup;

- (void)tearDown;

#pragma mark -
#pragma mark Driving Interface

- (void)startDriving:(RKDriveControlType)type;

- (void)driveWithJoyStickPosition:(CGPoint)newPoint;

- (void)driveWithAcceleration:(CMAcceleration)acceleration;

- (void)stopDriving;

- (void)jump;

@end