Changeset 379 in flair-src for trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.h

Timestamp:

12/17/20 15:30:33 (2 years ago)

Author:

Sanahuja Guillaume

Message:

modifs ugv

File:

• trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.h (modified) (2 diffs)

trunk/demos/TwoWheelRobotCircleFollower/ugv/src/CircleFollower.h

@@ -20 +20 @@
     namespace gui {
         class PushButton;
+        class DoubleSpinBox;
     }
     namespace filter {
@@ -41 +42 @@
 
         enum class BehaviourMode_t {
-            Default,
+            Manual,
             Circle
         };
 
+        void Run(void);
+        void StartCircle(void);
+        void StopCircle(void);
+        void ComputeManualControls(void);
+        void ComputeCircleControls(void);
+
+        flair::filter::Pid *uX, *uY;
+        flair::gui::PushButton *startCircle,*stopCircle,*button_kill;
+        flair::gui::DoubleSpinBox *l;
+        flair::meta::MetaVrpnObject *targetVrpn,*ugvVrpn;
+        flair::filter::TrajectoryGenerator2DCircle *circle;
         BehaviourMode_t behaviourMode;
         bool vrpnLost;
-                flair::sensor::TargetController *controller;
-
-                void Run(void);
-        void StartCircle(void);
-        void StopCircle(void);
-
-        flair::filter::Pid *uX, *uY;
-
-        flair::gui::PushButton *startCircle,*stopCircle,*button_kill;
-        flair::meta::MetaVrpnObject *targetVrpn,*ugvVrpn;
-        flair::filter::TrajectoryGenerator2DCircle *circle;
-
+        flair::sensor::TargetController *controller;
 };