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-rw-r--r--2005/i/robert/src/motor/motor.cc25
1 files changed, 23 insertions, 2 deletions
diff --git a/2005/i/robert/src/motor/motor.cc b/2005/i/robert/src/motor/motor.cc
index fb4a6dd..d963342 100644
--- a/2005/i/robert/src/motor/motor.cc
+++ b/2005/i/robert/src/motor/motor.cc
@@ -75,6 +75,16 @@ double Motor::getA(void)
return posA_;
}
+void Motor::setPosition(double x, double y, double a) //XXX Faire trois setteur
+{
+ asserv_.setXPos(x);
+ asserv_.setYPos(y);
+ asserv_.setAngle(a);
+ posX_ = x;
+ posY_ = y;
+ posA_ = a;
+}
+
void Motor::goTo(double x, double y, double a)
{
@@ -96,8 +106,9 @@ void Motor::goTo(double x, double y, double a)
void Motor::recalage(void)
{
- // XXX je ne vois pas là
- log_ ("recalage") << "Etat" << "A CODER!!!!";
+ asserv_.fuckTheWall(-3); // XXX Mettre l'arg en conf
+ log_ ("recalage") << "Vitesse" << "-3";
+ idle_ = false;
}
bool Motor::idle(void)
@@ -119,6 +130,16 @@ void Motor::rotation(double newA)
idle_ = false;
}
+void Motor::setMaxSpeed(int maxLspeed, int maxRspeed)
+{
+ asserv_.setMaxSpeed(maxLspeed, maxRspeed);
+}
+
+int Motor::getMaxLSpeed(void)
+{
+ return asserv_.getMaxLSpeed();
+}
+
bool Motor::sync(void)
{
log_("sync") << "Entré dans sync" << "";