Zürcher Eliteeinheit / Mbed 2 deprecated ROME2_P4

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Dependencies:   ROME2_P2 mbed

Fork of ROME2_P3 by Zürcher Eliteeinheit

TaskMove.h@6:67263dc2c2cf, 2018-04-26 (annotated)

Committer:
matajarb
Date:
Thu Apr 26 12:22:58 2018 +0000
Revision:
6:67263dc2c2cf
s?mme du schluch

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matajarb 6:67263dc2c2cf 1 /*
matajarb 6:67263dc2c2cf 2 * TaskMove.h
matajarb 6:67263dc2c2cf 3 * Copyright (c) 2018, ZHAW
matajarb 6:67263dc2c2cf 4 * All rights reserved.
matajarb 6:67263dc2c2cf 5 */
matajarb 6:67263dc2c2cf 6
matajarb 6:67263dc2c2cf 7 #ifndef TASK_MOVE_H_
matajarb 6:67263dc2c2cf 8 #define TASK_MOVE_H_
matajarb 6:67263dc2c2cf 9
matajarb 6:67263dc2c2cf 10 #include <cstdlib>
matajarb 6:67263dc2c2cf 11 #include "Controller.h"
matajarb 6:67263dc2c2cf 12 #include "Task.h"
matajarb 6:67263dc2c2cf 13
matajarb 6:67263dc2c2cf 14 /**
matajarb 6:67263dc2c2cf 15 * This is a specific implementation of a task class that moves the robot with given velocities.
matajarb 6:67263dc2c2cf 16 */
matajarb 6:67263dc2c2cf 17 class TaskMove : public Task {
matajarb 6:67263dc2c2cf 18
matajarb 6:67263dc2c2cf 19 public:
matajarb 6:67263dc2c2cf 20
matajarb 6:67263dc2c2cf 21 static const float DEFAULT_DURATION; /**< Default duration, given in [s]. */
matajarb 6:67263dc2c2cf 22
matajarb 6:67263dc2c2cf 23 TaskMove(Controller& controller, float translationalVelocity, float rotationalVelocity);
matajarb 6:67263dc2c2cf 24 TaskMove(Controller& controller, float translationalVelocity, float rotationalVelocity, float duration);
matajarb 6:67263dc2c2cf 25 virtual ~TaskMove();
matajarb 6:67263dc2c2cf 26 virtual int run(float period);
matajarb 6:67263dc2c2cf 27
matajarb 6:67263dc2c2cf 28 private:
matajarb 6:67263dc2c2cf 29
matajarb 6:67263dc2c2cf 30 Controller& controller; // reference to controller object to use
matajarb 6:67263dc2c2cf 31 float translationalVelocity; // translational velocity, given in [m/s]
matajarb 6:67263dc2c2cf 32 float rotationalVelocity; // rotational velocity, given in [rad/s]
matajarb 6:67263dc2c2cf 33 float duration; // duration to move the robot, given in [s]
matajarb 6:67263dc2c2cf 34 float time; // current time, given in [s]
matajarb 6:67263dc2c2cf 35 };
matajarb 6:67263dc2c2cf 36
matajarb 6:67263dc2c2cf 37 #endif /* TASK_MOVE_H_ */
matajarb 6:67263dc2c2cf 38