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authorschodet2006-05-25 18:09:03 +0000
committerschodet2006-05-25 18:09:03 +0000
commit6eae3fd7b71b3527b0c95fd5e0c9f9d131f327a7 (patch)
tree8ccc23f2fcf8a883f59336c85b37225babb1601b /i/marvin/src/motor/motor.hh
parentc1c0369199a8fdcf05aea48a2f3e13f11373229f (diff)
Ajout de la gestion du bloquage
Diffstat (limited to 'i/marvin/src/motor/motor.hh')
-rw-r--r--i/marvin/src/motor/motor.hh3
1 files changed, 3 insertions, 0 deletions
diff --git a/i/marvin/src/motor/motor.hh b/i/marvin/src/motor/motor.hh
index 1c6f403..68da820 100644
--- a/i/marvin/src/motor/motor.hh
+++ b/i/marvin/src/motor/motor.hh
@@ -33,6 +33,7 @@ class Motor : public Asserv::Receiver
Asserv asserv_;
int seq_;
bool finish_;
+ bool blocked_;
double x_, y_, a_;
public:
/// Constructor.
@@ -45,6 +46,8 @@ class Motor : public Asserv::Receiver
Asserv &getAsserv (void) { return asserv_; }
/// True if last long move is finished.
bool finish (void) const { return finish_; }
+ /// True if blocked.
+ bool blocked (void) const { return blocked_; }
/// Linear and angular move. T(mm) is the linear distance. A(mm) is the
/// angular distance which means the arc length.
void move (double t, double a);