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Dependencies:   mbed

Asservissement/Asservissement_v1.cpp

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

File content as of revision 0:b127c787a51b:

#include "Asservissement_v1.h"

Asservissement_v1::Asservissement_v1(Odometry &odometry, Motor &motorL, Motor &motorR)
:Asservissement(odometry,motorL,motorR)
{
    
}

void Asservissement_v1::update(float dt)
{
    if(m_odometry.getY()<1000 && m_odometry.getX()<1000)
    {
        m_motorL.setSpeed(0.2);
        m_motorR.setSpeed(0.2);
    }
    else
    {
        m_motorL.setSpeed(0);
        m_motorR.setSpeed(0);
    }
}

void Asservissement_v1::setGoal(float x, float y, float theta)
{
    
}

void Asservissement_v1::setGoal(float x, float y)
{
    
}

void Asservissement_v1::stop()
{
    
}

bool Asservissement_v1::isArrived()
{
    return false;
}

char Asservissement_v1::getState()
{
    return m_state;
}