From 8f486613be58ced269db1d437e560c16558604e8 Mon Sep 17 00:00:00 2001 From: becquet Date: Thu, 10 May 2007 18:49:20 +0000 Subject: Création de chuck, le programme du robot 2007. --- i/chuck/src/motor/motor.hh | 86 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 86 insertions(+) create mode 100644 i/chuck/src/motor/motor.hh (limited to 'i/chuck/src/motor/motor.hh') diff --git a/i/chuck/src/motor/motor.hh b/i/chuck/src/motor/motor.hh new file mode 100644 index 0000000..548c7bd --- /dev/null +++ b/i/chuck/src/motor/motor.hh @@ -0,0 +1,86 @@ +#ifndef motor_hh +#define motor_hh +// motor.hh +// marvin - programme du robot 2006. {{{ +// +// Copyright (C) 2006 Nicolas Schodet +// +// 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 "asserv/asserv.hh" +#include "log/log.hh" + +/// Handle movements. +class Motor : public Asserv::Receiver +{ + private: + Asserv asserv_; + int seq_; + bool finish_; + bool blocked_; + double x_, y_, a_; + Log log_; + public: + /// Constructor. + Motor (void); + /// Try to empty emission queue, return true if empty. + bool sync (void) { return asserv_.sync (); } + /// Wait until emission queue is empty or timed out. + bool wait (int timeout = -1) { return asserv_.wait (timeout); } + /// Get asserv reference to change parameters. + 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); + /// Rotate (rad). + void rotate (double a); + /// Find a hole. + void findHole (void); + /// Lock good hole (approximatively...) + void lockGoodHole(void); + /// Lock ennemy hole (non pas son cul) + void lockBadHole(void); + /// Stop now. + void stop (void); + /// get the file descriptor + int getFd(void) const; + /// Reset. + void reset (void); + /// get the position of robal + void getPosition(double & x, double & y, double & a) const; + private: + /// Next seq number. + inline void nextSeq (void); + /// Implement Asserv::Receiver callbacks. + void receiveAck (int seq); + void receiveCounterStat (int l, int r); + void receivePos (double x, double y, double a); + void receiveSpeedStat (int t, int a); + void receivePosStat (int te, int ti, int ae, int ai); + void receivePwmStat (int l, int r); + void receiveTimerStat (const int *t, int tn); + void receiveInPort (unsigned int port); +}; + +#endif // motor_hh -- cgit v1.2.3