Guillaume Chauvon
/
Asservissment_robot2_v16_05
l
Diff: deplacement.h
- Revision:
- 4:eac6746544fb
- Parent:
- 3:d38aa400d5e7
- Child:
- 5:3638d7e7c5c1
diff -r d38aa400d5e7 -r eac6746544fb deplacement.h --- a/deplacement.h Thu May 09 07:09:54 2019 +0000 +++ b/deplacement.h Thu May 16 09:10:16 2019 +0000 @@ -2,7 +2,11 @@ #define DEPLACEMENT_H #define TAILLE_TAB 250 - +struct Coordonnees +{ + double x; + double y; +}; class deplacement{ public: deplacement(); @@ -26,7 +30,11 @@ void poussette(); // set PWM 150 pendant 1.5s - + void arc(Coordonnees p1, Coordonnees p2);//p2 point final p1 point intermediaire + int cercle(Coordonnees a,Coordonnees b, Coordonnees c); + double int_ext_cercle(double x, double y); + void va_au_point(double x,double y, double cap); + double recup_angle_entre_trois_points_213(double x1,double y1,double x2,double y2,double x3,double y3); private: @@ -62,6 +70,7 @@ int consigne_tab[20][2]; int compteur_asser; double somme_y; + double point[3]; };