#ifndef motor_hh #define motor_hh // motor.hh // robert - programme du robot 2005 {{{ // // Copyright (C) 2005 Nicolas Haller // // Robot APB Team/Efrei 2005. // 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 "config/config.hh" /// Gère les moteurs de déplacement du robot class Motor { private: double posX_; double posY_; double speed_; public: /// Constructeur Motor (const Config & config); /// Initialise les moteurs void init(void); ///Arrête les moteurs void stop(void); /// Renvoie la position X double getX(void); /// Renvoie la position Y double getY(void); /// Ammène le robot à la position x,y void goTo(double x, double y); /// Recale le robot void recalage(void); /// Règle la vitesse des moteurs void setSpeed(double v); /// Indique si les moteurs sont occupé ou non bool idle (void); /// Execute un déplacement linéaire void linearMove(double d); /// Execute une rotation(argument en radian) void rotation(double a); }; #endif // motor.hh