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Dependencies:   mbed

Classes/Robot.h@17:aae5361ddddf, 2019-06-04 (annotated)

Committer:
theolp
Date:
Tue Jun 04 17:25:49 2019 +0000
Revision:
17:aae5361ddddf
Parent:
16:05665faaa489
Child:
19:dad67302af25
Odometrie position, dbug position, angles compris entre -180 et 180, fonction updateCAN. Bonne version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wael_H 10:efa507ba2b35 1 #ifndef ROBOT_H
Wael_H 10:efa507ba2b35 2 #define ROBOT_H
Wael_H 10:efa507ba2b35 3
Wael_H 10:efa507ba2b35 4 #include "Deplacement.h"
Wael_H 10:efa507ba2b35 5 #include "Laser.h"
Wael_H 10:efa507ba2b35 6 #include "Rouleau.h"
Wael_H 10:efa507ba2b35 7 #include <string>
Wael_H 10:efa507ba2b35 8
Wael_H 10:efa507ba2b35 9 using namespace std;
Wael_H 10:efa507ba2b35 10
Wael_H 10:efa507ba2b35 11 class Robot
Wael_H 10:efa507ba2b35 12 {
Wael_H 10:efa507ba2b35 13 public:
Wael_H 10:efa507ba2b35 14 Robot();
Wael_H 10:efa507ba2b35 15 bool aBalle();
theolp 17:aae5361ddddf 16 short pos(int);
Wael_H 13:9c62e263f245 17
Wael_H 10:efa507ba2b35 18 // Déplacements //
Wael_H 15:3d4543a6c100 19 bool avance(signed short=2500);
Wael_H 15:3d4543a6c100 20 bool tourne(signed short=3600);
Wael_H 15:3d4543a6c100 21 bool GoToXYT(unsigned short, unsigned short, unsigned short, signed char sens=0);
Wael_H 15:3d4543a6c100 22 void setSpeed(unsigned short vitesse, unsigned short acceleration) const;
Wael_H 13:9c62e263f245 23 void stop();
Wael_H 13:9c62e263f245 24
Wael_H 10:efa507ba2b35 25 // Lasers //
Wael_H 13:9c62e263f245 26 float getDist(int, string unite="cm");
Wael_H 13:9c62e263f245 27
Wael_H 10:efa507ba2b35 28 // Rouleau //
Wael_H 10:efa507ba2b35 29 void ejecte(int);
Wael_H 10:efa507ba2b35 30 void gobe(int);
Wael_H 10:efa507ba2b35 31 void stopRouleau();
Wael_H 10:efa507ba2b35 32
theolp 17:aae5361ddddf 33 // Enum pour les infos sur la position //
theolp 17:aae5361ddddf 34 enum {Y, X, THETA};
theolp 17:aae5361ddddf 35
Wael_H 10:efa507ba2b35 36 private:
Wael_H 10:efa507ba2b35 37 Deplacement deplacement;
theolp 17:aae5361ddddf 38 Laser laserG, laserD, laserA; //Lasers télémétriques du Robot
Wael_H 10:efa507ba2b35 39 Rouleau rouleau;
Wael_H 10:efa507ba2b35 40 DigitalIn BPs;
Wael_H 10:efa507ba2b35 41 };
Wael_H 10:efa507ba2b35 42
Wael_H 10:efa507ba2b35 43 #endif //ROBOT_H