From b61c30486959f3838836fbafeb78c79ea0785683 Mon Sep 17 00:00:00 2001 From: haller Date: Sat, 23 Apr 2005 22:34:37 +0000 Subject: Déclaration des fonctions et variables necessaires --- 2005/i/robert/src/motor/motor.hh | 35 +++++++++++++++++++++++++++++++++-- 1 file changed, 33 insertions(+), 2 deletions(-) (limited to '2005/i/robert/src/motor') diff --git a/2005/i/robert/src/motor/motor.hh b/2005/i/robert/src/motor/motor.hh index c052c6b..22298e0 100644 --- a/2005/i/robert/src/motor/motor.hh +++ b/2005/i/robert/src/motor/motor.hh @@ -13,7 +13,7 @@ // 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 @@ -25,7 +25,38 @@ // // }}} +#include "config/config.hh" + +/// Gère les moteurs de déplacement du robot class Motor { -} + private: + double posX_; + double posY_; + double speed_; + + public: + /// Constructeur + Motor (const Config & config); + /// Initialise les moteurs + void init(void); + ///Arrête les moteurs + void stop(void); + /// Renvoie la position X + double getX(void); + /// Renvoie la position Y + double getY(void); + /// Ammène le robot à la position x,y + void goTo(double x, double y); + /// Recale le robot + void recalage(void); + /// Règle la vitesse des moteurs + void setSpeed(double v); + /// Indique si les moteurs sont occupé ou non + bool idle (void); + /// Execute un déplacement linéaire + void linearMove(double d); + /// Execute une rotation(argument en radian) + void rotation(double a); +}; #endif // motor.hh -- cgit v1.2.3