Diff: rac.h

Revision:

10:fb3542f3c5e6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rac.h	Mon May 28 14:18:32 2018 +0000
@@ -0,0 +1,32 @@
+#ifndef RAC_H
+#define RAC_H
+
+class RAC{
+    
+    public:
+    
+    void readButtons(uint8_t SWX, uint8_t SWY, uint8_t BPO);
+    void setVelocity(double velXin, double velYin, double centerRef, bool t_mode);
+    void readPosition(double *cX, double *cY, bool *t_mode);
+    void readVelocity(double *rvx, double *rvy);
+    void send(int id, char octet_emis[], char RouD, char longueur );
+    
+    private:
+    
+    uint8_t _SWX, _SWY, _BPO;
+    int _x, _y, _ctr_x, _ctr_y;
+    float _VX, _VY;    
+    long int _VM_L, _VM_R;           
+    char _command[8];
+    double _dy, _dx;//coordinates values when origin is done
+    //these positions are in counters
+    int32_t _p1, _p2; //motors positions
+    int32_t _p_actual, _p_actual2, _p_pom, _p_pom2; //p_actual position read by can, p_pom position done when origin is made
+    int32_t _lx, _l1, _l2;
+    double _rvx, _rvy;
+    };
+
+
+
+
+#endif RAC_H
\ No newline at end of file