ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asserv_Plan_B/planB.h@70:56086a37f31f, 2015-04-10 (annotated)

Committer:
sype
Date:
Fri Apr 10 15:23:05 2015 +0000
Revision:
70:56086a37f31f
Parent:
68:1ef8b1a37252
Child:
71:95d76c181b22
asserv B

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 59:67e0d6ed44b6 1 #include "mbed.h"
Jagang 62:454cd844fe1e 2 #include "Odometry.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 62:454cd844fe1e 8 aserv_planB(Odometry &odometry,Motor &motorL,Motor &motorR);
Jagang 62:454cd844fe1e 9 void update(float dt);
sype 64:6489bcfc1173 10 void control_speed();
sype 70:56086a37f31f 11 void control_position();
sype 70:56086a37f31f 12 float Kp, Ki, Kd;
sype 64:6489bcfc1173 13
sype 64:6489bcfc1173 14 private:
Jagang 62:454cd844fe1e 15 Odometry &m_odometry;
Jagang 62:454cd844fe1e 16 Motor &m_motorL;
Jagang 62:454cd844fe1e 17 Motor &m_motorR;
sype 64:6489bcfc1173 18
sype 64:6489bcfc1173 19 float erreur_g, vitesse_g;
sype 64:6489bcfc1173 20 float erreur_d, vitesse_d;
sype 64:6489bcfc1173 21 float cmd_g, cmd_d;
sype 64:6489bcfc1173 22 float consigne_g, consigne_d;
sype 70:56086a37f31f 23 float somme_erreur_g, somme_erreur_d;
sype 70:56086a37f31f 24
sype 70:56086a37f31f 25 float erreur_position_g, position_g;
sype 70:56086a37f31f 26 float erreur_position_d, position_d;
sype 70:56086a37f31f 27 float consigne_position_g, consigne_position_d;
sype 64:6489bcfc1173 28
Jagang 62:454cd844fe1e 29 };