From 6eae3fd7b71b3527b0c95fd5e0c9f9d131f327a7 Mon Sep 17 00:00:00 2001 From: schodet Date: Thu, 25 May 2006 18:09:03 +0000 Subject: Ajout de la gestion du bloquage --- i/marvin/src/motor/motor.hh | 3 +++ 1 file changed, 3 insertions(+) (limited to 'i/marvin/src/motor/motor.hh') 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); -- cgit v1.2.3