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Dependencies:   mbed

Asservissement/Asservissement_v1.cpp@0:b127c787a51b, 2015-05-24 (annotated)

Committer:
Jagang
Date:
Sun May 24 12:30:47 2015 +0000
Revision:
0:b127c787a51b
Nettoyage du code d'asserv.; L'asserv ne fonctionne plus, juste test, moteurs ? 20% sur 1m

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jagang 0:b127c787a51b 1 #include "Asservissement_v1.h"
Jagang 0:b127c787a51b 2
Jagang 0:b127c787a51b 3 Asservissement_v1::Asservissement_v1(Odometry &odometry, Motor &motorL, Motor &motorR)
Jagang 0:b127c787a51b 4 :Asservissement(odometry,motorL,motorR)
Jagang 0:b127c787a51b 5 {
Jagang 0:b127c787a51b 6
Jagang 0:b127c787a51b 7 }
Jagang 0:b127c787a51b 8
Jagang 0:b127c787a51b 9 void Asservissement_v1::update(float dt)
Jagang 0:b127c787a51b 10 {
Jagang 0:b127c787a51b 11 if(m_odometry.getY()<1000 && m_odometry.getX()<1000)
Jagang 0:b127c787a51b 12 {
Jagang 0:b127c787a51b 13 m_motorL.setSpeed(0.2);
Jagang 0:b127c787a51b 14 m_motorR.setSpeed(0.2);
Jagang 0:b127c787a51b 15 }
Jagang 0:b127c787a51b 16 else
Jagang 0:b127c787a51b 17 {
Jagang 0:b127c787a51b 18 m_motorL.setSpeed(0);
Jagang 0:b127c787a51b 19 m_motorR.setSpeed(0);
Jagang 0:b127c787a51b 20 }
Jagang 0:b127c787a51b 21 }
Jagang 0:b127c787a51b 22
Jagang 0:b127c787a51b 23 void Asservissement_v1::setGoal(float x, float y, float theta)
Jagang 0:b127c787a51b 24 {
Jagang 0:b127c787a51b 25
Jagang 0:b127c787a51b 26 }
Jagang 0:b127c787a51b 27
Jagang 0:b127c787a51b 28 void Asservissement_v1::setGoal(float x, float y)
Jagang 0:b127c787a51b 29 {
Jagang 0:b127c787a51b 30
Jagang 0:b127c787a51b 31 }
Jagang 0:b127c787a51b 32
Jagang 0:b127c787a51b 33 void Asservissement_v1::stop()
Jagang 0:b127c787a51b 34 {
Jagang 0:b127c787a51b 35
Jagang 0:b127c787a51b 36 }
Jagang 0:b127c787a51b 37
Jagang 0:b127c787a51b 38 bool Asservissement_v1::isArrived()
Jagang 0:b127c787a51b 39 {
Jagang 0:b127c787a51b 40 return false;
Jagang 0:b127c787a51b 41 }
Jagang 0:b127c787a51b 42
Jagang 0:b127c787a51b 43 char Asservissement_v1::getState()
Jagang 0:b127c787a51b 44 {
Jagang 0:b127c787a51b 45 return m_state;
Jagang 0:b127c787a51b 46 }