MecanumDrive.h

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#ifndef SRC_MECANUMDRIVE_H_
#define SRC_MECANUMDRIVE_H_

#include <RobotComponent.h>
#include <SmoothAxis.h>
#include <AllRobotControls.h>

class MecanumDrive: public RobotComponent {
public:
    MecanumDrive();
    virtual ~MecanumDrive();

    virtual void ComponentInit();

    virtual void Sense();

    virtual void DoWork();

    virtual void SetSmoothAccel(bool enable);

    bool isSmoothAccel() const {
        return m_SmoothAccel;
    }

    void setSmoothAccel(bool smoothAccel) {
        m_SmoothAccel = smoothAccel;
    }

    bool isGyroEnabled() const {
        return m_gyroEnabled;
    }

    void setGyroEnabled(bool gyroEnabled);

private:
    Joystick *m_DriveStick;                         
    RobotDrive *m_Drive;                            
    SmoothAxis *m_ValueX,                           
               *m_ValueY,                           
               *m_ValueRotate;                      
    Gyro *m_Gyro;                                   
    JoystickButton *m_GyroButton;                   
    bool m_GyroButtonIsPressed;                     
    bool m_gyroEnabled;                             
    float m_gyroAngle;                              
    bool m_SmoothAccel;                             
};

#endif /* SRC_MECANUMDRIVE_H_ */