From 7da669b97ec71f138c74d562b8a3b219d3f98a50 Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Fri, 13 Apr 2007 17:58:03 +0000
Subject: Makefile angelegt; Grundfunktionen erweitert

---
 Navigation.h | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 Navigation.h

(limited to 'Navigation.h')

diff --git a/Navigation.h b/Navigation.h
new file mode 100644
index 0000000..561e342
--- /dev/null
+++ b/Navigation.h
@@ -0,0 +1,31 @@
+#ifndef _ROBOCUP_NAVIGATION_H_
+#define _ROBOCUP_NAVIGATION_H_
+
+#include "Motor.h"
+#include "util.h"
+
+
+class Navigation {
+  private:
+    Motor *motors[3];
+    float motorPos[3];
+    
+    float speed;
+    float direction;
+    float spin;
+    
+    void update();
+  public:
+    Navigation(Motor *m1, float p1, Motor *m2, float p2, Motor *m3, float p3);
+    
+    void setSpeed(float speed) {this->speed = CLAMP(0.0, speed, 1.0); update();}
+    float getSpeed() {return speed;}
+    
+    void setDirection(float direction) {this->direction = direction; update();}
+    float getDirection() {return direction;}
+    
+    void setSpin(float spin) {this->spin = CLAMP(-1.0, spin, 1.0); update();}
+    float getSpin() {return spin;}
+};
+
+#endif
-- 
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