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#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"

/// G�re les moteurs de d�placement du robot
class Motor
{
    private:
	double posX_;
	double posY_;
	double speed_;

    public:
	/// Constructeur
	Motor (const Config & config);
	/// Initialise les moteurs
	void init(void);
	///Arr�te les moteurs
	void stop(void);
	/// Renvoie la position X
	double getX(void);
	/// Renvoie la position Y
	double getY(void);
	/// Amm�ne le robot � la position x,y
	void goTo(double x, double y);
	/// Recale le robot
	void recalage(void);
	/// R�gle la vitesse des moteurs
	void setSpeed(double v);
	/// Indique si les moteurs sont occup� ou non
	bool idle (void);
	/// Execute un d�placement lin�aire
	void linearMove(double d);
	/// Execute une rotation(argument en radian)
	void rotation(double a);
};
#endif // motor.hh