Rover/mode_hold.cpp

   1 #include "Rover.h"
   2
   3 void ModeHold::update()
   4 {
   5     float throttle = 0.0f;
   6
   7     // if vehicle is balance bot, calculate actual throttle required for balancing
   8     if (rover.is_balancebot()) {
   9         rover.balancebot_pitch_control(throttle);
  10     }
  11
  12     // relax mainsail
  13     g2.sailboat.relax_sails();
  14
  15     // hold position - stop motors and center steering
  16     g2.motors.set_throttle(throttle);
  17     g2.motors.set_steering(0.0f);
  18 }