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#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'� ce que deux gpi soit
/// � 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 - d�contact.
    int state_;
    // Point de passage � l'�tape 1.
    Point step1_;
    int stepDate_;
  public:
    /// Constructeur.
    /// speed : vitesse (-1..+1).
    /// gpio : gpio d'entr�.
    /// gpil : gpi gauche.
    /// gpir : gpi droite.
    /// ana : analog d'entr�e.
    /// anal : ana gauche.
    /// anar : ana droite.
    MovementReposition (double speed, Gpio &gpio, int gpil, int gpir,
			Analog &ana, int anal, int anar);
    /// Initialise le mouvement, appel� juste quand le mouvement est mis en
    /// service.
    void init (const Tracker &t, Asserv &a, Motor &m);
    /// Controlle la vitesse, retourne faux si mouvement termin�.
    bool control (void);
};

#endif // movement_reposition_h