// movement_basic.cc // 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_basic.h" #include "tracker.h" #include "asserv.h" #include "motor.h" /// Constructeur. /// speed : vitesse (-1..+1). /// lenght : distance (mm, > 0) MovementBasic::MovementBasic (double speed, double lenght) : speed_ (speed), lenght2_ (lenght * lenght), sX_ (0.0), sY_ (0.0) { } /// Initialise le mouvement, appelé juste quand le mouvement est mis en /// service. void MovementBasic::init (const Tracker &t, Asserv &a, Motor &m) { Movement::init (t, a, m); sX_ = t.getX (); sY_ = t.getY (); } /// Controlle la vitesse, retourne faux si mouvement terminé. bool MovementBasic::control (void) { double dX = t_->getX () - sX_; double dY = t_->getY () - sY_; if (dX * dX + dY * dY >= lenght2_) { return false; } m_->speed (speed_, speed_); return true; }