inc/controllers/positionControllers/defaultWheelController.h

#ifndef DEFAULTWHEELCONTROLLER_H_
#define DEFAULTWHEELCONTROLLER_H_

#include <controllers/subController.h>

#include <basic/robotActorBase.h>

namespace srAlmende {

class DefaultWheelController: public SubController {
public:
        DefaultWheelController(const std::string &name, srCore::RobotActorBase *robotActor);

        virtual ~DefaultWheelController();

        CtrlMsg* Act(CtrlMsg *message);

        static const float      NO_LOCATION     = -180.0;

        bool decreaseSpeedSlowly();

        void wander();

private:
        float goalSpeedL;
        float goalSpeedR;


};

}

#endif /* DEFAULTWHEELCONTROLLER_H_ */

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