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#ifndef movement_h
#define movement_h
// movement.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 <iostream>

class Tracker;
class Asserv;
class Motor;

/// Classe de base pour un mouvement. Classe g�rant l'asservissement de la
/// position.
class Movement
{
  protected:
    const Tracker *t_;
    Asserv *a_;
    Motor *m_;
  public:
    /// Destructeur.
    virtual ~Movement (void) { }
    /// Initialise le mouvement, appel� juste quand le mouvement est mis en
    /// service.
    virtual void init (const Tracker &t, Asserv &a, Motor &m)
      { t_ = &t; a_ = &a; m_ = &m; }
    /// Controlle la vitesse, retourne faux si mouvement termin�.
    virtual bool control (void) { return false; }
};

#endif // movement_h