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authorschodet2004-04-16 16:46:46 +0000
committerschodet2004-04-16 16:46:46 +0000
commita3a3a4d6d183b22036a606cda8553192c98321cd (patch)
tree37d158408eabfbb8524d1214a985a44e376ee333 /2004/i/nono/src/motor/movement_rotation.h
parente68b824329a537eddddd5b59b9bdf498698ee604 (diff)
Logger fonctionne.
MovementRotation aussi. Ajout de Serial::wait. Ajout de commentaires.
Diffstat (limited to '2004/i/nono/src/motor/movement_rotation.h')
-rw-r--r--2004/i/nono/src/motor/movement_rotation.h67
1 files changed, 67 insertions, 0 deletions
diff --git a/2004/i/nono/src/motor/movement_rotation.h b/2004/i/nono/src/motor/movement_rotation.h
new file mode 100644
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+++ b/2004/i/nono/src/motor/movement_rotation.h
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+#ifndef movement_rotation_h
+#define movement_rotation_h
+// movement_rotation.h
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "movement.h"
+
+/// Paramètres de MovementRotation.
+class MovementRotationParam
+{
+ // Epsilon.
+ double eps_;
+ // Coefficient proportionnel.
+ double kpa_;
+ // Coefficient intégral.
+ double kia_;
+ // Maximum de saturation de l'integralle.
+ double is_;
+ // Coefficient de dérivée.
+ double kda_;
+ public:
+ /// Constructeur, charge les paramètres depuis la Config.
+ MovementRotationParam (void);
+ friend class MovementRotation;
+};
+
+/// Mouvement de rotation, permet d'atteindre un angle.
+class MovementRotation : public Movement
+{
+ /// Angle d'arrivée.
+ double dA_;
+ /// Integrale.
+ double ia_;
+ /// Dernière valeurs d'erreur.
+ double lea_;
+ /// Paramètres d'asservissement.
+ static MovementRotationParam param_;
+ public:
+ /// Constructeur.
+ /// a : angle d'arrivé (rad).
+ MovementRotation (double a);
+ /// Controlle la vitesse, retourne faux si mouvement terminé.
+ bool control (void);
+};
+
+#endif // movement_rotation_h