Xavier Jannin / Mbed 2 deprecated PETIT_robot

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Dependencies:   mbed

Base/Odometrie.h@0:1cfd66c3a181, 2019-05-22 (annotated)

Committer:
xav_jann1
Date:
Wed May 22 16:54:27 2019 +0000
Revision:
0:1cfd66c3a181
Premiere version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xav_jann1 0:1cfd66c3a181 1 #ifndef ODOMETRIE_H
xav_jann1 0:1cfd66c3a181 2 #define ODOMETRIE_H
xav_jann1 0:1cfd66c3a181 3
xav_jann1 0:1cfd66c3a181 4 #include "mbed.h"
xav_jann1 0:1cfd66c3a181 5 #include "Encodeur.h"
xav_jann1 0:1cfd66c3a181 6
xav_jann1 0:1cfd66c3a181 7 class Odometrie {
xav_jann1 0:1cfd66c3a181 8 public:
xav_jann1 0:1cfd66c3a181 9 // Constructeur:
xav_jann1 0:1cfd66c3a181 10 Odometrie(Encodeur* encodeurG, Encodeur* encodeurD, float entraxe);
xav_jann1 0:1cfd66c3a181 11
xav_jann1 0:1cfd66c3a181 12 void update();
xav_jann1 0:1cfd66c3a181 13
xav_jann1 0:1cfd66c3a181 14 // Getters:
xav_jann1 0:1cfd66c3a181 15 float getX();
xav_jann1 0:1cfd66c3a181 16 float getY();
xav_jann1 0:1cfd66c3a181 17 float getTheta();
xav_jann1 0:1cfd66c3a181 18 float getDistance();
xav_jann1 0:1cfd66c3a181 19 float getRealDistance();
xav_jann1 0:1cfd66c3a181 20 float getVitesse();
xav_jann1 0:1cfd66c3a181 21
xav_jann1 0:1cfd66c3a181 22 // Pointeurs:
xav_jann1 0:1cfd66c3a181 23 float* getX_ptr();
xav_jann1 0:1cfd66c3a181 24 float* getY_ptr();
xav_jann1 0:1cfd66c3a181 25 float* getTheta_ptr();
xav_jann1 0:1cfd66c3a181 26 float* getDistance_ptr();
xav_jann1 0:1cfd66c3a181 27 float* getVitesse_ptr();
xav_jann1 0:1cfd66c3a181 28
xav_jann1 0:1cfd66c3a181 29 private:
xav_jann1 0:1cfd66c3a181 30 // Position et orientation:
xav_jann1 0:1cfd66c3a181 31 float m_L, m_X, m_Y, m_Theta, m_distance, m_vitesse;
xav_jann1 0:1cfd66c3a181 32
xav_jann1 0:1cfd66c3a181 33 // Encodeurs:
xav_jann1 0:1cfd66c3a181 34 Encodeur* m_encodeurG;
xav_jann1 0:1cfd66c3a181 35 Encodeur* m_encodeurD;
xav_jann1 0:1cfd66c3a181 36 float m_ticks_par_mm, m_entraxe_ticks;
xav_jann1 0:1cfd66c3a181 37
xav_jann1 0:1cfd66c3a181 38 int m_prev_encodeurG_count, m_prev_encodeurD_count;
xav_jann1 0:1cfd66c3a181 39
xav_jann1 0:1cfd66c3a181 40 };
xav_jann1 0:1cfd66c3a181 41
xav_jann1 0:1cfd66c3a181 42 #endif