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authordufourj2006-05-24 20:13:50 +0000
committerdufourj2006-05-24 20:13:50 +0000
commit08c46b0aa2c1791ca404a60ca0f75e4687553076 (patch)
treed0b97fb8acc6da521a1be51de87c113090be0d91 /i/marvin/src/motor
parent78a8f07f655dc7ff426d87001f3ca4d6a8365ded (diff)
Ai :
- rajout de parametres ; - rajout de fonctions. Es : - fonctions de gettage de jack/couleur de sélection.
Diffstat (limited to 'i/marvin/src/motor')
-rw-r--r--i/marvin/src/motor/motor.cc8
-rw-r--r--i/marvin/src/motor/motor.hh2
2 files changed, 10 insertions, 0 deletions
diff --git a/i/marvin/src/motor/motor.cc b/i/marvin/src/motor/motor.cc
index af3d29f..2664df0 100644
--- a/i/marvin/src/motor/motor.cc
+++ b/i/marvin/src/motor/motor.cc
@@ -30,6 +30,14 @@ Motor::Motor (void)
{
}
+/// Reset.
+void
+Motor::reset (void)
+{
+ finish_ = false;
+ asserv_.reset ();
+}
+
/// Linear and angular move. T(mm) is the linear distance. A(mm) is the
/// angular distance which means the arc length.
void
diff --git a/i/marvin/src/motor/motor.hh b/i/marvin/src/motor/motor.hh
index 509ed8b..5770ebb 100644
--- a/i/marvin/src/motor/motor.hh
+++ b/i/marvin/src/motor/motor.hh
@@ -54,6 +54,8 @@ class Motor : public Asserv::Receiver
void findHole (void);
/// Stop now.
void stop (void);
+ /// Reset.
+ void reset (void);
private:
/// Next seq number.
inline void nextSeq (void);