#ifndef movement_h #define movement_h // movement.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 class Tracker; class Asserv; class Motor; /// Classe de base pour un mouvement. Classe gérant l'asservissement de la /// position. class Movement { protected: const Tracker *t_; Asserv *a_; Motor *m_; public: /// Destructeur. virtual ~Movement (void) { } /// Initialise le mouvement, appelé juste quand le mouvement est mis en /// service. virtual void init (const Tracker &t, Asserv &a, Motor &m) { t_ = &t; a_ = &a; m_ = &m; } /// Controlle la vitesse, retourne faux si mouvement terminé. virtual bool control (void) { return false; } }; #endif // movement_h