Robot Principal 26
Documentation du Club Robot INSA Rennes 2026
Chargement...
Recherche...
Aucune correspondance
BasicTurnStrategy.h
1//
2// Created by awing on 21/11/25.
3//
4#ifndef TEAM2026_BASICTURNSTRATEGY_H
5#define TEAM2026_BASICTURNSTRATEGY_H
6
7#include "Controller/PositionController.h"
8#include "Controller/PID.h"
9
10/*extern DCMotorsDriver driver;
11extern DCMotor leftWheel;
12extern DCMotor rightWheel;
13extern VelocityController velocityControl;
14extern PositionController positionControl;*/
23class BasicTurnStrategy : public AbstractMoveStrategy {
24
25public:
26 virtual ~BasicTurnStrategy() = default;
27 PID ang_pid;
28 PID lin_pid;
29protected:
30 void computeVelSetpoints(float timestep) override;
31 bool getPositionReached() override;
32};
33
34#endif //TEAM2026_BASICMOVESTRATEGY_H
AbstractMoveStrategy
Interface de Stratégie de mouvement.
Definition PositionController.h:195
BasicTurnStrategy
Stratégie de mouvement basique.
Definition BasicTurnStrategy.h:23
BasicTurnStrategy::getPositionReached
bool getPositionReached() override
Indique si la position désirée est atteinte.
Definition BasicTurnStrategy.cpp:28
BasicTurnStrategy::computeVelSetpoints
void computeVelSetpoints(float timestep) override
Calcul les nouvelles vitesses désirer.
Definition BasicTurnStrategy.cpp:8
PID
Classe d'asservissement.
Definition PID.h:16