ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asserv_Plan_B/planB.h@84:24d727006218, 2015-04-16 (annotated)

Committer:
sype
Date:
Thu Apr 16 12:23:02 2015 +0000
Revision:
84:24d727006218
Parent:
79:d97090bb6470
Child:
85:8e95432d99d3
Suppression de l'integrateur AsservB -> uniquement P et D

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 59:67e0d6ed44b6 1 #include "mbed.h"
Jagang 71:95d76c181b22 2 #include "Odometry2.h"
Jagang 62:454cd844fe1e 3 #include "Motor.h"
sype 59:67e0d6ed44b6 4
Jagang 62:454cd844fe1e 5 class aserv_planB
Jagang 62:454cd844fe1e 6 {
sype 64:6489bcfc1173 7 public:
Jagang 71:95d76c181b22 8 aserv_planB(Odometry2 &odometry,Motor &motorL,Motor &motorR);
Jagang 62:454cd844fe1e 9 void update(float dt);
sype 64:6489bcfc1173 10 void control_speed();
Jagang 71:95d76c181b22 11 void setGoal(float x, float y, float theta);
sype 84:24d727006218 12 bool aserv_planB::isArrived(void) {return done;}
sype 70:56086a37f31f 13 float Kp, Ki, Kd;
sype 64:6489bcfc1173 14
sype 64:6489bcfc1173 15 private:
Jagang 71:95d76c181b22 16 Odometry2 &m_odometry;
Jagang 62:454cd844fe1e 17 Motor &m_motorL;
Jagang 62:454cd844fe1e 18 Motor &m_motorR;
sype 64:6489bcfc1173 19
sype 64:6489bcfc1173 20 float erreur_g, vitesse_g;
sype 64:6489bcfc1173 21 float erreur_d, vitesse_d;
sype 64:6489bcfc1173 22 float cmd_g, cmd_d;
sype 64:6489bcfc1173 23 float consigne_g, consigne_d;
sype 79:d97090bb6470 24 float somme_erreur, somme_erreur_d;
sype 79:d97090bb6470 25 float erreur_precedente;
Jagang 71:95d76c181b22 26 float m_goalX, m_goalY, m_goalTheta;
sype 79:d97090bb6470 27 bool done;
sype 79:d97090bb6470 28 int N;
sype 79:d97090bb6470 29 float moyenne;
sype 79:d97090bb6470 30 float limite;
Jagang 71:95d76c181b22 31
Jagang 71:95d76c181b22 32 char state;
sype 79:d97090bb6470 33 //char etat_angle;
Jagang 71:95d76c181b22 34
sype 79:d97090bb6470 35 float cmd;
sype 70:56086a37f31f 36 float erreur_position_g, position_g;
sype 70:56086a37f31f 37 float erreur_position_d, position_d;
sype 70:56086a37f31f 38 float consigne_position_g, consigne_position_d;
sype 64:6489bcfc1173 39
Jagang 62:454cd844fe1e 40 };