Romain Ame / Mbed 2 deprecated Timer71pt

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Dependencies:   RoboClaw mbed

Fork of Timer by ARES

Diff: Odometry/Odometry.h

Revision:
78:c28bdbf29b6e
Parent:
77:f19cc7f81f2a
--- a/Odometry/Odometry.h	Thu May 05 08:46:08 2016 +0000
+++ b/Odometry/Odometry.h	Thu May 05 13:17:00 2016 +0000
@@ -20,6 +20,12 @@
 /* Si le robot parcourt un trop grand angle, il diminuer l'entraxe, sinon l'augmenter */
 #define ENTRAXE 243.8
 
+#define STEP_T 0
+#define STEP_D 1
+
+#define MAIN_FCT_XY 0
+#define MAIN_FCT_XYT 1
+
 /*
 *   Author : Benjamin Bertelone, reworked by Simon Emarre
 */
@@ -119,6 +125,11 @@
     /** Permet de mettre à jour les valeurs de l'odometrie
     */
     void update_odo(void);
+    
+    void stop();
+    void pause();
+    void resume();
+    char getCurrentStep(){return currentStep;}
 
 private:
     RoboClaw &roboclaw;
@@ -128,11 +139,18 @@
     double x, y, theta;
     double m_vitLeft, m_vitRight;
     double m_distLeft, m_distRight;
-
+    
+    double saved_x_goal, saved_y_goal, saved_theta_goal;
+    char currentStep;
+    char currentMainFunction;
+    bool paused;
+    
     double m_distPerTick_left, m_distPerTick_right, m_v;
 
     double erreur_ang;
     bool arrived;
+    
+    Timer timer;
 };
 
 #endif