summaryrefslogtreecommitdiff
path: root/2005/i/robert/src/motor/motor.cc
blob: 0bc75251baf1e2308aab8c401d99b36af99db457 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
// motor.cc
// 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 "motor.hh"

/// Constructeur
Motor::Motor (const Config & config)
    :asserv_(config, *this), idle_(true)
{
    pStatPosition = config.get<int>("motor.pStatPosition");
    pStatMotor = config.get<int>("motor.pStatMotor");
}

/// Initialise les moteurs
void Motor::init (void)
{
    // on reset la carte
    asserv_.reset();
    // On stop le moteur
    stop();
    // on r�gle le rafraichissement des positions
    asserv_.statPosition(pStatPosition);
    asserv_.statMotor(pStatMotor);
    // on remet les position � 0 XXX � 0? dns ai en dur
    posX_ = posY_ = posA_ = 0;
}

// Arr�te les moteurs
void Motor::stop(void)
{
    asserv_.setSpeed();
    while(!idle()){} ///XXX
}

double Motor::getX(void)
{
    return posX_;
}

double Motor::getY(void)
{
    return posY_;
}

double Motor::getA(void)
{
    return posA_;
}

void Motor::goTo(double x, double y, double a)
{
    // XXX M�thode carr� ou pas?
}

void Motor::recalage(void)
{
    // XXX je ne vois pas l�
}

bool Motor::idle(void)
{
    return idle_;
}

void Motor::linearMove(double d)
{
    asserv_.linearMove(d);
    idle_ = false;
}

void Motor::rotation(double newA)
{
   asserv_.angularMove(newA);
   idle_ = false;
}

bool Motor::sync(void)
{
    return asserv_.sync();
}

void Motor::wait(int timeout)
{
    asserv_.wait(timeout);
}

void Motor::receiveCounter (double lMotor, double rMotor)
{
}

void Motor::receivePosX (double xPos)
{
    posX_ = xPos;
}

void Motor::receivePosY (double yPos)
{
    posY_ = yPos;
}

void Motor::receivePosA (double aPos)
{
    posA_ = aPos;
}

void Motor::receiveSpeedStat (int leftError, int leftInt, int rightError,
	int rightInt)
{
    if(leftInt == 0 && rightInt == 0) // XXX c'est bon ca?
	idle_ = true;
    else
	idle_ = false;
}

void Motor::receivePwm (double leftPwm, double rightPwm)
{
}

void Motor::receiveTiming (int motorTimer4,
	int motorTimer3, int motorTimer2,
	int motorTimer1, int motorTimer0)
{
}

void Motor::receiveInPort (int port)
{
}

void Motor::receiveSharp (int sharp1, int sharp2, int sharp3)
{
}

void Motor::receiveTazState(int state, int subState)
{
}

void Motor::done (void)
{
    idle_ = true;
    asserv_.finishAck();
}