Xavier Jannin
/
PETIT_robot
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Diff: Base/Odometrie.h
- Revision:
- 0:1cfd66c3a181
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Base/Odometrie.h Wed May 22 16:54:27 2019 +0000
@@ -0,0 +1,42 @@
+#ifndef ODOMETRIE_H
+#define ODOMETRIE_H
+
+#include "mbed.h"
+#include "Encodeur.h"
+
+class Odometrie {
+ public:
+ // Constructeur:
+ Odometrie(Encodeur* encodeurG, Encodeur* encodeurD, float entraxe);
+
+ void update();
+
+ // Getters:
+ float getX();
+ float getY();
+ float getTheta();
+ float getDistance();
+ float getRealDistance();
+ float getVitesse();
+
+ // Pointeurs:
+ float* getX_ptr();
+ float* getY_ptr();
+ float* getTheta_ptr();
+ float* getDistance_ptr();
+ float* getVitesse_ptr();
+
+ private:
+ // Position et orientation:
+ float m_L, m_X, m_Y, m_Theta, m_distance, m_vitesse;
+
+ // Encodeurs:
+ Encodeur* m_encodeurG;
+ Encodeur* m_encodeurD;
+ float m_ticks_par_mm, m_entraxe_ticks;
+
+ int m_prev_encodeurG_count, m_prev_encodeurD_count;
+
+};
+
+#endif
\ No newline at end of file