ARES / Mbed 2 deprecated Robot 2016

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Show/hide line numbers Asservissement.h Source File

Asservissement.h

00001 #ifndef ASSERVISSEMENT_H
00002 #define ASSERVISSEMENT_H
00003 
00004 #include "mbed.h"
00005 #include "Odometry.h"
00006 #include "Motor.h"
00007 
00008 class Asservissement
00009 {
00010 public:
00011     Asservissement(Odometry &odometry, Motor &motorL, Motor &motorR);
00012     virtual void update(float dt) = 0;
00013     
00014     virtual void setGoal(float x, float y, float theta) = 0;
00015     virtual void setGoal(float x, float y) = 0;
00016     
00017     virtual void stop() = 0;
00018     
00019     virtual bool isArrived() = 0;
00020     
00021     virtual char getState() = 0;
00022 
00023 protected:
00024     Odometry &m_odometry;
00025     Motor &m_motorL;
00026     Motor &m_motorR;
00027 };
00028 
00029 
00030 #endif
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