ARES / Mbed 2 deprecated Robot 2015

Robot's source code

Dependencies:   mbed

Asserv_Plan_B/planB.h

Committer:
Jagang
Date:
2015-04-10
Revision:
71:95d76c181b22
Parent:
70:56086a37f31f
Child:
79:d97090bb6470

File content as of revision 71:95d76c181b22:

#include "mbed.h"
#include "Odometry2.h"
#include "Motor.h"

class aserv_planB
{
public:
    aserv_planB(Odometry2 &odometry,Motor &motorL,Motor &motorR);
    void update(float dt);
    void control_speed();
    void control_position();
    void setGoal(float x, float y, float theta);
    float Kp, Ki, Kd;

private:
    Odometry2 &m_odometry;
    Motor &m_motorL;
    Motor &m_motorR;
    
    float erreur_g, vitesse_g;
    float erreur_d, vitesse_d;
    float cmd_g, cmd_d;
    float consigne_g, consigne_d;
    float somme_erreur_g, somme_erreur_d;
    
    float m_goalX, m_goalY, m_goalTheta;
    
    char state;
    
    float erreur_position_g, position_g;
    float erreur_position_d, position_d;
    float consigne_position_g, consigne_position_d;

};