ARES
/
Robot 2016
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Dependencies: mbed
Diff: Asservissement/Asservissement.h
- Revision:
- 0:b127c787a51b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Asservissement/Asservissement.h Sun May 24 12:30:47 2015 +0000
@@ -0,0 +1,30 @@
+#ifndef ASSERVISSEMENT_H
+#define ASSERVISSEMENT_H
+
+#include "mbed.h"
+#include "Odometry.h"
+#include "Motor.h"
+
+class Asservissement
+{
+public:
+ Asservissement(Odometry &odometry, Motor &motorL, Motor &motorR);
+ virtual void update(float dt) = 0;
+
+ virtual void setGoal(float x, float y, float theta) = 0;
+ virtual void setGoal(float x, float y) = 0;
+
+ virtual void stop() = 0;
+
+ virtual bool isArrived() = 0;
+
+ virtual char getState() = 0;
+
+protected:
+ Odometry &m_odometry;
+ Motor &m_motorL;
+ Motor &m_motorR;
+};
+
+
+#endif
