From a3a3a4d6d183b22036a606cda8553192c98321cd Mon Sep 17 00:00:00 2001 From: schodet Date: Fri, 16 Apr 2004 16:46:46 +0000 Subject: Logger fonctionne. MovementRotation aussi. Ajout de Serial::wait. Ajout de commentaires. --- 2004/i/nono/src/motor/movement_rotation.h | 67 +++++++++++++++++++++++++++++++ 1 file changed, 67 insertions(+) create mode 100644 2004/i/nono/src/motor/movement_rotation.h (limited to '2004/i/nono/src/motor/movement_rotation.h') diff --git a/2004/i/nono/src/motor/movement_rotation.h b/2004/i/nono/src/motor/movement_rotation.h new file mode 100644 index 0000000..4530ec3 --- /dev/null +++ b/2004/i/nono/src/motor/movement_rotation.h @@ -0,0 +1,67 @@ +#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 -- cgit v1.2.3