Diff: SERVO/Motors.cpp

Revision:

1:8bab9152933e

Parent:

0:edce82659847

--- a/SERVO/Motors.cpp	Tue Aug 02 14:31:12 2016 +0000
+++ b/SERVO/Motors.cpp	Thu Aug 11 12:18:13 2016 +0000
@@ -1,3 +1,48 @@
 #include "Motors.h"
+#include "LOGGER.h"
+
+Motors::Motors(char t, bool mid)
+{
 
-Motors::Motors
\ No newline at end of file
+    if(t<3) {
+        type=t;
+        middel=mid;
+        //on rempli les angles sellon le type
+        switch(type) {
+            case COAX:
+                if(middel) {
+                    libre[0]=COAX_D1_MIL;
+                    libre[1]=COAX_D2_MIL;
+                } else {
+                    libre[0]=COAX_D1;
+                    libre[1]=COAX_D2;
+                }
+                break;
+            case FEMUR:
+                libre[0]=FEMUR_D1;
+                libre[1]=FEMUR_D2;
+                break;
+            case TIBIA:
+                libre[0]=TIBIA_D1;
+                libre[1]=TIBIA_D2;
+                break;
+        }
+    } else Logger::Instance()->log("Erreur, le type donner est invalide");
+}
+Motors::~Motors()
+{
+};
+
+char Motors::get_type()
+{
+    return type;
+}
+
+bool Motors::is_valide_pos(int pos, bool D)
+{
+    int i=1;
+    if(D) i=0;
+    if(pos>libre[i])return true;
+    else return false;
+
+}
\ No newline at end of file