Steering.h@1:4b719f80e9c4, 2015-08-21 (annotated)
- Committer:
- inst
- Date:
- Fri Aug 21 04:52:10 2015 +0000
- Revision:
- 1:4b719f80e9c4
- Parent:
- 0:0bac1fed0273
- Child:
- 2:8be8699c5afd
y evol
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
inst | 0:0bac1fed0273 | 1 | #ifndef INCLUDED_STEERING_H |
inst | 0:0bac1fed0273 | 2 | #define INCLUDED_STEERING_H |
inst | 0:0bac1fed0273 | 3 | |
inst | 0:0bac1fed0273 | 4 | #include "Command.h" |
inst | 0:0bac1fed0273 | 5 | |
inst | 0:0bac1fed0273 | 6 | class XBee; |
inst | 0:0bac1fed0273 | 7 | class I2CMotor; |
inst | 0:0bac1fed0273 | 8 | class I2CServo; |
inst | 0:0bac1fed0273 | 9 | |
inst | 0:0bac1fed0273 | 10 | class Steering{ |
inst | 0:0bac1fed0273 | 11 | public: |
inst | 0:0bac1fed0273 | 12 | Steering( I2CMotor** t, I2CServo** s, XBee* xbee ); |
inst | 0:0bac1fed0273 | 13 | ~Steering(); |
inst | 0:0bac1fed0273 | 14 | |
inst | 0:0bac1fed0273 | 15 | void update( Command c ); |
inst | 0:0bac1fed0273 | 16 | |
inst | 0:0bac1fed0273 | 17 | private: |
inst | 0:0bac1fed0273 | 18 | void updateMove( Command command ); |
inst | 0:0bac1fed0273 | 19 | void updateAbsRoll( Command command ); |
inst | 0:0bac1fed0273 | 20 | void updateRoll( Command command ); |
inst | 0:0bac1fed0273 | 21 | void updateStop( Command command ); |
inst | 0:0bac1fed0273 | 22 | void updateWaitServo( Command command ); |
inst | 0:0bac1fed0273 | 23 | |
inst | 0:0bac1fed0273 | 24 | void setServoPositionByActionType( Command::ActionType action, Command command ); |
inst | 1:4b719f80e9c4 | 25 | void setServoPositionWhenMove( Command command ); |
inst | 1:4b719f80e9c4 | 26 | void setServoPositionWhenRoll(); |
inst | 1:4b719f80e9c4 | 27 | void setServoPositionWhenStop(); |
inst | 0:0bac1fed0273 | 28 | |
inst | 0:0bac1fed0273 | 29 | static const int mNumOfTire; |
inst | 0:0bac1fed0273 | 30 | static const float mAllowableError; |
inst | 0:0bac1fed0273 | 31 | static const float mStoppingMoveAngle; |
inst | 0:0bac1fed0273 | 32 | static const float mRollTirePosition[]; |
inst | 0:0bac1fed0273 | 33 | |
inst | 0:0bac1fed0273 | 34 | float mOffsetHeadingAngle; |
inst | 0:0bac1fed0273 | 35 | |
inst | 0:0bac1fed0273 | 36 | float mMoveDirection_rad; |
inst | 0:0bac1fed0273 | 37 | |
inst | 0:0bac1fed0273 | 38 | I2CMotor** mTire; |
inst | 0:0bac1fed0273 | 39 | I2CServo** mServo; |
inst | 0:0bac1fed0273 | 40 | XBee* mXBee; |
inst | 0:0bac1fed0273 | 41 | |
inst | 0:0bac1fed0273 | 42 | Command::ActionType mActionType; |
inst | 0:0bac1fed0273 | 43 | Command::ActionType mNextActionType; |
inst | 0:0bac1fed0273 | 44 | }; |
inst | 0:0bac1fed0273 | 45 | |
inst | 0:0bac1fed0273 | 46 | #endif |