ARES / Mbed 2 deprecated Robot 2016

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Dependencies:   mbed

Asservissement/Asservissement.h

Committer:
Jagang
Date:
2015-05-24
Revision:
0:b127c787a51b

File content as of revision 0:b127c787a51b:

#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