#ifndef movement_basic_h #define movement_basic_h // movement_basic.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" /// Mouvemenet de base, avance tout droit jusqu'a avoir parcouru une distance. class MovementBasic : public Movement { /// Vitesse. double speed_; /// Distance au carré. double lenght2_; /// Position de départ. double sX_, sY_; public: /// Constructeur. /// speed : vitesse (-1..+1). /// lenght : distance (mm, > 0) MovementBasic (double speed, double lenght); /// Initialise le mouvement, appelé juste quand le mouvement est mis en /// service. void init (const Tracker &t, Asserv &a, Motor &m); /// Controlle la vitesse, retourne faux si mouvement terminé. bool control (void); }; #endif // movement_basic_h