#ifndef movement_reposition_h #define movement_reposition_h // movement_reposition.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" #include "io/gpio.h" #include "io/analog.h" #include "utils/point.h" /// Mouvement de repositionnement, avance/recule jusqu'à ce que deux gpi soit /// à 1. class MovementReposition : public Movement { double speed_; Gpio &gpio_; int gpil_, gpir_; Analog &ana_; int anal_, anar_; /// Etat du repositionnement : /// 0 - raprochement avec les sharps. /// 1 - raprochement contact. /// 2 - décontact. int state_; // Point de passage à l'étape 1. Point step1_; int stepDate_; public: /// Constructeur. /// speed : vitesse (-1..+1). /// gpio : gpio d'entré. /// gpil : gpi gauche. /// gpir : gpi droite. /// ana : analog d'entrée. /// anal : ana gauche. /// anar : ana droite. MovementReposition (double speed, Gpio &gpio, int gpil, int gpir, Analog &ana, int anal, int anar); /// 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_reposition_h