#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