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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"
#include "asserv/asserv.hh"

/// G�re les moteurs de d�placement du robot
class Motor : public Asserv::Receiver
{
    private:
	/// Communication avec l'asservissement
	Asserv asserv_;
	/// Syst�me de log
	Log log_;
	/// position
	double posX_;
	double posY_;
	double posA_;
	double speed_;
	/// Etat des commandes
	bool idle_;
	/// Param�tre de conf
	int pStatPosition_;
	int pStatMotor_;
	/// Etat du port d'entr�e
	int pinState_;
	bool pinUpdated_;

    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);
	/// Renvoie l'angle A
	double getA(void);
	/// Amm�ne le robot � la position x,y
	void goTo(double x, double y, double a);
	/// Recale le robot
	void recalage(void);
	/// 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 newA);
	/// Syncronisation
	bool sync(void);
	/// On attend...
	void wait(int timeout);
	/// Retoure l'�tat du jack (false entr�e et true sortie)
	bool jackState(void);
	/// d�claration des fonctions de receiver
	void receiveCounter (double lMotor, double rMotor);
	void receivePosX (double xPos);
	void receivePosY (double yPos);
	void receivePosA (double aPos);
	void receiveSpeedStat (int leftError, int leftInt, int rightError,
			       int rightInt);
	void receivePwm (double leftPwm, double rightPwm);
	void receiveTiming (int motorTimer4,
			    int motorTimer3, int motorTimer2,
			    int motorTimer1, int motorTimer0);
	void receiveInPort (int port);
	void receiveSharp (int sharp1, int sharp2, int sharp3);
	void receiveTazState(int state, int subState); // XXX V�rifier les formats
	void done (void);
};
#endif // motor.hh