#ifndef movement_rotation_h #define movement_rotation_h // movement_rotation.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" /// Paramètres de MovementRotation. class MovementRotationParam { // Epsilon. double eps_; // Coefficient proportionnel. double kpa_; // Coefficient intégral. double kia_; // Maximum de saturation de l'integralle. double is_; // Coefficient de dérivée. double kda_; public: /// Constructeur, charge les paramètres depuis la Config. MovementRotationParam (void); friend class MovementRotation; }; /// Mouvement de rotation, permet d'atteindre un angle. class MovementRotation : public Movement { /// Angle d'arrivée. double dA_; /// Integrale. double ia_; /// Dernière valeurs d'erreur. double lea_; /// Paramètres d'asservissement. static MovementRotationParam param_; public: /// Constructeur. /// a : angle d'arrivé (rad). MovementRotation (double a); /// Controlle la vitesse, retourne faux si mouvement terminé. bool control (void); }; #endif // movement_rotation_h