From 284c12a695421bf088e3c85f23854253943aacd0 Mon Sep 17 00:00:00 2001
From: Camden Dixie O'Brien <cobrien@witekio.com>
Date: Sat, 24 May 2025 10:07:05 +0100
Subject: [PATCH] Handle keys to change position setpoint and perturb angle

---
 main.c | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/main.c b/main.c
index 65ff301..195347c 100644
--- a/main.c
+++ b/main.c
@@ -150,6 +150,22 @@ int main(void)
 		while (SDL_PollEvent(&e)) {
 			if (e.type == SDL_QUIT)
 				goto quit;
+			if (e.type == SDL_KEYDOWN) {
+				switch (e.key.keysym.sym) {
+				case SDLK_LEFT:
+					pos -= 0.1;
+					break;
+				case SDLK_RIGHT:
+					pos += 0.1;
+					break;
+				case SDLK_j:
+					state.a -= 0.1;
+					break;
+				case SDLK_k:
+					state.a += 0.1;
+					break;
+				}
+			}
 		}
 
 		const double k = control(&state, pos, dt);