ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asserv_Plan_B/planB.h@85:8e95432d99d3, 2015-04-18 (annotated)

Committer:
sype
Date:
Sat Apr 18 09:39:15 2015 +0000
Revision:
85:8e95432d99d3
Parent:
84:24d727006218
Child:
93:4d5664e9188a
Child:
94:5c37bcf73d14
Mise en place de l'asserv de l'ETAT 2

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 85:8e95432d99d3 13 float carre(float x) {return x*x;}
sype 85:8e95432d99d3 14 float Kp_angle, Kd_angle;
sype 85:8e95432d99d3 15 float Kp_distance, Ki_distance, Kd_distance;
sype 64:6489bcfc1173 16
sype 64:6489bcfc1173 17 private:
Jagang 71:95d76c181b22 18 Odometry2 &m_odometry;
Jagang 62:454cd844fe1e 19 Motor &m_motorL;
Jagang 62:454cd844fe1e 20 Motor &m_motorR;
sype 64:6489bcfc1173 21
sype 64:6489bcfc1173 22 float erreur_g, vitesse_g;
sype 64:6489bcfc1173 23 float erreur_d, vitesse_d;
sype 64:6489bcfc1173 24 float cmd_g, cmd_d;
sype 64:6489bcfc1173 25 float consigne_g, consigne_d;
sype 79:d97090bb6470 26 float somme_erreur, somme_erreur_d;
sype 79:d97090bb6470 27 float erreur_precedente;
Jagang 71:95d76c181b22 28 float m_goalX, m_goalY, m_goalTheta;
sype 85:8e95432d99d3 29 float distance_g, distance_d;
sype 85:8e95432d99d3 30 float thetaGoal;
sype 85:8e95432d99d3 31 float memo_g, memo_d;
sype 79:d97090bb6470 32 bool done;
sype 79:d97090bb6470 33 int N;
Jagang 71:95d76c181b22 34
Jagang 71:95d76c181b22 35 char state;
sype 79:d97090bb6470 36 //char etat_angle;
Jagang 71:95d76c181b22 37
sype 79:d97090bb6470 38 float cmd;
sype 70:56086a37f31f 39 float erreur_position_g, position_g;
sype 70:56086a37f31f 40 float erreur_position_d, position_d;
sype 70:56086a37f31f 41 float consigne_position_g, consigne_position_d;
sype 64:6489bcfc1173 42
Jagang 62:454cd844fe1e 43 };