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Robot.h
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Robot.h
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/*
* Robot Navigation Program
* www.robotnav.com
*
* (C) Copyright 2010 - 2014 Lauro Ojeda
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef ROBOT_H
#define ROBOT_H
#include <sys/time.h>
#include <vector>
const int DATA_READY = 1;
const int NAME_SIZE = 10;
const float SEC2USEC = 1e6;
class Robot
{
private:
timeval mStartTimeSec;
protected:
char mName[NAME_SIZE];
//Robot dimentions
float mTrack;
float mEncoderScaleFactor;
//Motion variables
float mDisplacementRight;
float mDisplacementLeft;
float mDisplacement;
float mRotation;
int mEncoderCountSecLimit;
//Timing variables
float mPeriod;
int mCounter;
bool mWaitForPeriod;
void checkTimming();
void speedRate2Counts(float speed, float rate, int *pCountSec);
public:
Robot(float period, float track, float encoderScaleFactor);
virtual ~Robot();
virtual int readSensors() = 0;
virtual void setActuators(std::vector<int> &MotorSpeed) = 0;
virtual void setActuators(float speed, float rate) = 0;
virtual void setEncoderLimit(int pCountSecLimit);
inline float getDisplacement() const {return mDisplacement;};
inline float getAngle() const {return mRotation;};
inline float getPeriod() const {return mPeriod;};
inline float getCounter() const {return mCounter;};
inline char *getName() {return mName;};
};
#endif