Diff: Asserv_Plan_B/planB.h

Revision:

106:05096985d1b2

Parent:

93:4d5664e9188a

Child:

108:890094ee202a

--- a/Asserv_Plan_B/planB.h	Mon May 04 13:00:28 2015 +0000
+++ b/Asserv_Plan_B/planB.h	Tue May 05 05:05:07 2015 +0000
@@ -1,3 +1,6 @@
+#ifndef PLANB_H
+#define PLANB_H
+
 #include "mbed.h"
 #include "Odometry2.h"
 #include "Motor.h"
@@ -9,9 +12,10 @@
     void update(float dt);
     void control_speed();
     void setGoal(float x, float y, float theta);
+    void setGoal(float x, float y);
     bool isArrived(void) {return done;}
     float carre(float x) {return x*x;}
-    float Kp_angle, Kd_angle;
+    float Kp_angle, Kd_angle, Ki_angle;
     float Kp_distance, Ki_distance, Kd_distance;
 
 private:
@@ -25,11 +29,11 @@
     float consigne_g, consigne_d;
     float somme_erreur, somme_erreur_d;
     float erreur_precedente;
-    float m_goalX, m_goalY, m_goalTheta;
-    float distance_g, distance_d;
+    float m_goalX, m_goalY, m_goalPhi;
+    float distanceGoal, distance;
     float thetaGoal;
     float memo_g, memo_d;
-    bool done;
+    bool done, squip;
     int N;
     
     char state;
@@ -40,4 +44,6 @@
     float erreur_position_d, position_d;
     float consigne_position_g, consigne_position_d;
 
-};
\ No newline at end of file
+};
+
+#endif
\ No newline at end of file