Diff: Asserv_Plan_B/planB.h

Revision:

20:30942f018252

Parent:

18:0f1fefe78266

--- a/Asserv_Plan_B/planB.h	Thu Jan 07 15:54:49 2016 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,48 +0,0 @@
-#ifndef PLANB_H
-#define PLANB_H
-
-#include "mbed.h"
-#include "Odometry2.h"
-#include "Motor.h"
-
-class aserv_planB
-{
-public:
-    aserv_planB(Odometry2 &odometry,Motor &motorL,Motor &motorR);
-    void update(float dt);
-    void control_speed();
-    void setGoal(float x, float y, float theta);
-    void setGoal(float x, float y);
-    void stop(void);
-    bool isArrived(void) {return arrived;}
-    float carre(float x) {return x*x;}
-    float Kp_angle, Kd_angle, Ki_angle;
-    float Kp_distance, Ki_distance, Kd_distance;
-
-private:
-    Odometry2 &m_odometry;
-    Motor &m_motorL;
-    Motor &m_motorR;
-    
-    float cmd;
-    float cmd_g, cmd_d;
-    float limite;
-    float lim_min, lim_max;
-    
-    float somme_erreur_theta, somme_erreur_distance;
-    float delta_erreur_theta, delta_erreur_distance;
-    float erreur_precedente_theta, erreur_precedente_distance;
-    float distanceGoal, distance;
-    float thetaGoal;
-    
-    float m_goalX, m_goalY, m_goalPhi;
-    
-    bool arrived, squip;
-    int N;
-    
-    char state;
-    //char etat_angle;
-};
-
-
-#endif