ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asserv_Plan_B/planB.h@71:95d76c181b22, 2015-04-10 (annotated)

Committer:
Jagang
Date:
Fri Apr 10 18:01:54 2015 +0000
Revision:
71:95d76c181b22
Parent:
70:56086a37f31f
Child:
79:d97090bb6470
asservB angle

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();
sype 70:56086a37f31f 11 void control_position();
Jagang 71:95d76c181b22 12 void setGoal(float x, float y, float theta);
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 70:56086a37f31f 24 float somme_erreur_g, somme_erreur_d;
sype 70:56086a37f31f 25
Jagang 71:95d76c181b22 26 float m_goalX, m_goalY, m_goalTheta;
Jagang 71:95d76c181b22 27
Jagang 71:95d76c181b22 28 char state;
Jagang 71:95d76c181b22 29
sype 70:56086a37f31f 30 float erreur_position_g, position_g;
sype 70:56086a37f31f 31 float erreur_position_d, position_d;
sype 70:56086a37f31f 32 float consigne_position_g, consigne_position_d;
sype 64:6489bcfc1173 33
Jagang 62:454cd844fe1e 34 };