controller class More...

#include <Controller.h>

Public Member Functions
	Controller (PwmOut &pwm0, PwmOut &pwm1, PwmOut &pwm2, EncoderCounter &counter1, EncoderCounter &counter2, EncoderCounter &counter3, IMU &imu)
	Create and initialize a robot controller object.
virtual	~Controller ()
	Delete the robot controller object and release all allocated resources.
void	setY (float y)
	Sets the actual y coordinate of the robots position.
float	getX ()
	Gets the actual x coordinate of the robots position.
float	getY ()
	Gets the actual y coordinate of the robots position.

Detailed Description

controller class

Definition at line 22 of file Controller.h.

Constructor & Destructor Documentation

Create and initialize a robot controller object.

Parameters:

pwm0	a pwm output object to set the duty cycle for the first motor.
pwm1	a pwm output object to set the duty cycle for the second motor.
pwm2	a pwm output object to set the duty cycle for the third motor.
counter1

Definition at line 34 of file Controller.cpp.

~Controller ( ) [virtual]

Delete the robot controller object and release all allocated resources.

Definition at line 84 of file Controller.cpp.

float getX ( )

Gets the actual x coordinate of the robots position.

Definition at line 158 of file Controller.cpp.

float getY ( )

Gets the actual y coordinate of the robots position.

Definition at line 168 of file Controller.cpp.

void setY ( float y )

Sets the actual y coordinate of the robots position.

Parameters:

y	the y coordinate of the position, given in [m].

Definition at line 134 of file Controller.cpp.