ARES / Mbed 2 deprecated Robot 2015

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Dependencies:   mbed

Odometry/Odometry2.h@123:55e5e9acc541, 2015-05-11 (annotated)

Committer:
Jagang
Date:
Mon May 11 20:32:11 2015 +0000
Revision:
123:55e5e9acc541
Parent:
85:8e95432d99d3
Child:
94:5c37bcf73d14
Maj AI; Repositionnement du d?part (1000,177); Ajout de l'action sur les claps

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 71:95d76c181b22 1 #ifndef ODOMETRY2_H
Jagang 71:95d76c181b22 2 #define ODOMETRY2_H
Jagang 71:95d76c181b22 3
Jagang 71:95d76c181b22 4 #include "mbed.h"
Jagang 71:95d76c181b22 5 #include "QEI.h"
Jagang 71:95d76c181b22 6
Jagang 71:95d76c181b22 7 class Odometry2
Jagang 71:95d76c181b22 8 {
Jagang 71:95d76c181b22 9 public:
Jagang 71:95d76c181b22 10 Odometry2(QEI *qei_left, QEI *qei_right, float radius_left, float radius_right, float v);
Jagang 71:95d76c181b22 11
Jagang 71:95d76c181b22 12 void setPos(float x, float y, float theta);
Jagang 71:95d76c181b22 13 void setX(float x);
sype 79:d97090bb6470 14 void setY(float y);
Jagang 71:95d76c181b22 15 void setTheta(float theta);
Jagang 71:95d76c181b22 16
Jagang 71:95d76c181b22 17 float getX() {return x;}
Jagang 71:95d76c181b22 18 float getY() {return y;}
Jagang 72:b2a128486332 19 float getTheta() {return theta;} // ]-PI;PI]
Jagang 71:95d76c181b22 20
Jagang 71:95d76c181b22 21 float getVitLeft() {return m_vitLeft;}
Jagang 71:95d76c181b22 22 float getVitRight() {return m_vitRight;}
Jagang 71:95d76c181b22 23
sype 85:8e95432d99d3 24 float getDistLeft() {return m_distLeft;}
sype 85:8e95432d99d3 25 float getDistRight() {return m_distRight;}
sype 85:8e95432d99d3 26
sype 85:8e95432d99d3 27 void setDistLeft(float dist) {m_distLeft = dist;}
sype 85:8e95432d99d3 28 void setDistRight(float dist) {m_distRight = dist;}
sype 85:8e95432d99d3 29
Jagang 71:95d76c181b22 30 void update(float dt);
sype 85:8e95432d99d3 31
sype 85:8e95432d99d3 32 int getPulsesLeft(void) {return m_pulses_left;}
sype 85:8e95432d99d3 33 int getPulsesRight(void) {return m_pulses_right;}
Jagang 71:95d76c181b22 34
Jagang 71:95d76c181b22 35 private:
Jagang 71:95d76c181b22 36 QEI* m_qei_left;
Jagang 71:95d76c181b22 37 int m_pulses_left;
Jagang 71:95d76c181b22 38 QEI* m_qei_right;
Jagang 71:95d76c181b22 39 int m_pulses_right;
Jagang 71:95d76c181b22 40
Jagang 71:95d76c181b22 41 float x, y, theta;
Jagang 71:95d76c181b22 42 float m_vitLeft, m_vitRight;
sype 85:8e95432d99d3 43 float m_distLeft, m_distRight;
Jagang 71:95d76c181b22 44
Jagang 71:95d76c181b22 45 float m_distPerTick_left, m_distPerTick_right, m_v;
Jagang 71:95d76c181b22 46 };
Jagang 71:95d76c181b22 47
Jagang 71:95d76c181b22 48 #endif