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Dependencies:   mbed

Classes/Robot.h@16:05665faaa489, 2019-06-04 (annotated)

Committer:
Wael_H
Date:
Tue Jun 04 08:49:01 2019 +0000
Revision:
16:05665faaa489
Parent:
15:3d4543a6c100
Child:
17:aae5361ddddf
tests deplacements

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();
Wael_H 16:05665faaa489 16 void getPos(short*);
Wael_H 16:05665faaa489 17 bool getFlag();
Wael_H 13:9c62e263f245 18
Wael_H 10:efa507ba2b35 19 // Déplacements //
Wael_H 15:3d4543a6c100 20 bool avance(signed short=2500);
Wael_H 15:3d4543a6c100 21 bool tourne(signed short=3600);
Wael_H 15:3d4543a6c100 22 bool GoToXYT(unsigned short, unsigned short, unsigned short, signed char sens=0);
Wael_H 15:3d4543a6c100 23 void setSpeed(unsigned short vitesse, unsigned short acceleration) const;
Wael_H 13:9c62e263f245 24 void stop();
Wael_H 13:9c62e263f245 25
Wael_H 10:efa507ba2b35 26 // Lasers //
Wael_H 13:9c62e263f245 27 float getDist(int, string unite="cm");
Wael_H 13:9c62e263f245 28
Wael_H 10:efa507ba2b35 29 // Rouleau //
Wael_H 10:efa507ba2b35 30 void ejecte(int);
Wael_H 10:efa507ba2b35 31 void gobe(int);
Wael_H 10:efa507ba2b35 32 void stopRouleau();
Wael_H 10:efa507ba2b35 33
Wael_H 10:efa507ba2b35 34 private:
Wael_H 10:efa507ba2b35 35 Deplacement deplacement;
Wael_H 10:efa507ba2b35 36 Laser laserG, laserD, laserA; //Lasers télémétriques du Robot
Wael_H 10:efa507ba2b35 37 Rouleau rouleau;
Wael_H 10:efa507ba2b35 38 DigitalIn BPs;
Wael_H 10:efa507ba2b35 39 };
Wael_H 10:efa507ba2b35 40
Wael_H 10:efa507ba2b35 41 #endif //ROBOT_H