Asservissement_v1.cpp

00001 #include "Asservissement_v1.h"
00002 
00003 Asservissement_v1::Asservissement_v1(Odometry &odometry, Motor &motorL, Motor &motorR)
00004 :Asservissement(odometry,motorL,motorR)
00005 {
00006     
00007 }
00008 
00009 void Asservissement_v1::update(float dt)
00010 {
00011     if(m_odometry.getY()<1000 && m_odometry.getX()<1000)
00012     {
00013         m_motorL.setSpeed(0.2);
00014         m_motorR.setSpeed(0.2);
00015     }
00016     else
00017     {
00018         m_motorL.setSpeed(0);
00019         m_motorR.setSpeed(0);
00020     }
00021 }
00022 
00023 void Asservissement_v1::setGoal(float x, float y, float theta)
00024 {
00025     
00026 }
00027 
00028 void Asservissement_v1::setGoal(float x, float y)
00029 {
00030     
00031 }
00032 
00033 void Asservissement_v1::stop()
00034 {
00035     
00036 }
00037 
00038 bool Asservissement_v1::isArrived()
00039 {
00040     return false;
00041 }
00042 
00043 char Asservissement_v1::getState()
00044 {
00045     return m_state;
00046 }