rac.h

00001 #ifndef RAC_H
00002 #define RAC_H
00003 
00004 class RAC{
00005     
00006     public:
00007     
00008     void readButtons(uint8_t SWX, uint8_t SWY, uint8_t BPO);
00009     void setVelocity(double velXin, double velYin, double centerRef, bool t_mode);
00010     void readPosition(double *cX, double *cY, bool *t_mode);
00011     void readVelocity(double *rvx, double *rvy);
00012     void send(int id, char octet_emis[], char RouD, char longueur );
00013     
00014     private:
00015     
00016     uint8_t _SWX, _SWY, _BPO;
00017     int _x, _y, _ctr_x, _ctr_y;
00018     float _VX, _VY;    
00019     long int _VM_L, _VM_R;           
00020     char _command[8];
00021     double _dy, _dx;//coordinates values when origin is done
00022     //these positions are in counters
00023     int32_t _p1, _p2; //motors positions
00024     int32_t _p_actual, _p_actual2, _p_pom, _p_pom2; //p_actual position read by can, p_pom position done when origin is made
00025     int32_t _lx, _l1, _l2;
00026     double _rvx, _rvy;
00027     };
00028 
00029 
00030 
00031 
00032 #endif RAC_H