Module_Mouvement.h

00001  /* Copyright (c) 2012 - 2013 AUTHEUR
00002  *
00003  * THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED 
00004  * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 
00005  * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT 
00006  * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
00007  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
00008  * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
00009  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, 
00010  * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 
00011  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00012  */
00013  
00014  /*
00015  * Description
00016  * Input
00017  * Output
00018  */
00019  
00020  #ifndef MODULE_MOUVEMENT_H
00021  #define MODULE_MOUVEMENT_H
00022  
00023  #include "mbos.h"
00024  #include "ITG3200.h"
00025  #include "Motor.h"
00026  
00027  #define SDA p9
00028  #define SCL p10
00029  #define PWM p21
00030  #define FDW p22
00031  #define REV p23
00032  
00033 /* Point d'entrée de la tache du Module Mouvement */
00034 void ModuleMouvement_Task(void);
00035  
00036  class ModuleMouvement
00037  {
00038  private :
00039     /* ATTRIBUTS */
00040 
00041     ITG3200 *m_gyro;
00042     Motor *m_motor;
00043  
00044  public :
00045     /* CONSTRUCTEUR(S) */
00046     ModuleMouvement();
00047     int m_gyroX;
00048     int m_gyroY;
00049     int m_gyroZ;
00050     
00051     /* DESTRUCTEUR */
00052     ~ModuleMouvement();
00053     
00054     /* METHODES */
00055     void allumMotor();
00056     void eteindMotor();
00057     void getGyroValue();
00058     void creerTrame(char *envoi);
00059     void traiteCommande();
00060  
00061     /* FONCTIONS */
00062  
00063  };
00064  
00065  #endif