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+#ifndef movement_reposition_h
+#define movement_reposition_h
+// movement_reposition.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"
+#include "io/gpio.h"
+#include "io/analog.h"
+#include "utils/point.h"
+
+/// Mouvement de repositionnement, avance/recule jusqu'à ce que deux gpi soit
+/// à 1.
+class MovementReposition : public Movement
+{
+ double speed_;
+ Gpio &gpio_;
+ int gpil_, gpir_;
+ Analog &ana_;
+ int anal_, anar_;
+ /// Etat du repositionnement :
+ /// 0 - raprochement avec les sharps.
+ /// 1 - raprochement contact.
+ /// 2 - décontact.
+ int state_;
+ // Point de passage à l'étape 1.
+ Point step1_;
+ int stepDate_;
+ public:
+ /// Constructeur.
+ /// speed : vitesse (-1..+1).
+ /// gpio : gpio d'entré.
+ /// gpil : gpi gauche.
+ /// gpir : gpi droite.
+ /// ana : analog d'entrée.
+ /// anal : ana gauche.
+ /// anar : ana droite.
+ MovementReposition (double speed, Gpio &gpio, int gpil, int gpir,
+ Analog &ana, int anal, int anar);
+ /// Initialise le mouvement, appelé juste quand le mouvement est mis en
+ /// service.
+ void init (const Tracker &t, Asserv &a, Motor &m);
+ /// Controlle la vitesse, retourne faux si mouvement terminé.
+ bool control (void);
+};
+
+#endif // movement_reposition_h