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#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"

/// Param�tres de MovementRotation.
class MovementRotationParam
{
    // Epsilon.
    double eps_;
    // Coefficient proportionnel.
    double kpa_;
    // Coefficient int�gral.
    double kia_;
    // Maximum de saturation de l'integralle.
    double is_;
    // Coefficient de d�riv�e.
    double kda_;
  public:
    /// Constructeur, charge les param�tres depuis la Config.
    MovementRotationParam (void);
    friend class MovementRotation;
};

/// Mouvement de rotation, permet d'atteindre un angle.
class MovementRotation : public Movement
{
    /// Angle d'arriv�e.
    double dA_;
    /// Integrale.
    double ia_;
    /// Derni�re valeurs d'erreur.
    double lea_;
    /// Param�tres d'asservissement.
    static MovementRotationParam param_;
  public:
    /// Constructeur.
    /// a : angle d'arriv� (rad).
    MovementRotation (double a);
    /// Controlle la vitesse, retourne faux si mouvement termin�.
    bool control (void);
};

#endif // movement_rotation_h