Diff: Asserv_Plan_B/planB.h

Revision:

110:7e71e5cd8197

Parent:

109:53918ba98306

Parent:

108:890094ee202a

Child:

113:a30ae31795e8

--- a/Asserv_Plan_B/planB.h	Tue May 05 16:35:53 2015 +0000
+++ b/Asserv_Plan_B/planB.h	Tue May 05 16:52:09 2015 +0000
@@ -1,5 +1,5 @@
-#ifndef PLAN_H
-#define PLAN_H
+#ifndef PLANB_H
+#define PLANB_H
 
 #include "mbed.h"
 #include "Odometry2.h"
@@ -12,9 +12,11 @@
     void update(float dt);
     void control_speed();
     void setGoal(float x, float y, float theta);
-    bool isArrived(void) {return done;}
+    void setGoal(float x, float y);
+    void aserv_planB::stop(void);
+    bool isArrived(void) {return arrived;}
     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:
@@ -28,11 +30,11 @@
     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 arrived, squip;
     int N;
     
     char state;
@@ -45,4 +47,5 @@
 
 };
 
+
 #endif