1 files changed, 73 insertions, 0 deletions
diff --git a/source/Concept/Framework/modules/executor/navigator.h b/source/Concept/Framework/modules/executor/navigator.h
index 56e7b8f..848c9fa 100755
--- a/source/Concept/Framework/modules/executor/navigator.h
+++ b/source/Concept/Framework/modules/executor/navigator.h
@@ -1,3 +1,75 @@
+<<<<<<< .mine
+#ifndef _NAVIGATOR_H
+#define _NAVIGATOR_H
+
+//#include <math.h>
+#include "../../stdafx.h"
+
+class Navigator : public IO_Module
+{
+public:
+        Navigator()
+        {
+                this->parent = NULL;
+                this->moduleId = 0;
+                this->correctionCountdown = CYCLES_PER_CORRECTION;
+                this->direction = EMPTY_FLOAT;
+                this->targetAngle = EMPTY_FLOAT;
+                this->targetX = EMPTY_FLOAT;
+                this->targetY = EMPTY_FLOAT;
+                this->robotSpeed = 0;
+                this->rotationSpeed = 0;
+        }
+
+        Navigator(uint32 navigatorId)
+        {
+                this->parent = NULL;
+                this->moduleId = navigatorId;
+                this->correctionCountdown = CYCLES_PER_CORRECTION;
+                this->direction = EMPTY_FLOAT;
+                this->targetAngle = EMPTY_FLOAT;
+                this->targetX = EMPTY_FLOAT;
+                this->targetY = EMPTY_FLOAT;
+                this->robotSpeed = 0;
+                this->rotationSpeed = 0;
+        }
+
+protected:
+        uint16 correctionCountdown;
+        float direction; 
+        float targetAngle;
+        float targetX;
+        float targetY;
+        float robotSpeed;
+        float rotationSpeed;
+
+public:
+        void Update();	
+
+        void Stop();
+
+        void Drive(float newDirection, float newAngle, float newSpeed, float rotationSpeed);
+
+        void DriveTo(float newX, float newY, float newAngle, float newSpeed, float rotationSpeed);
+
+        void Rotate(float rotationSpeed);
+
+        void SetSpeed(float newSpeed)
+        {
+                this->robotSpeed = newSpeed;
+        }
+
+        void CalculateDirection();
+
+        void CalculateEngines();
+
+        bool HasTarget()
+        {
+                return (targetX != EMPTY_FLOAT && targetY != EMPTY_FLOAT);
+        }
+};
+
+=======
 #ifndef _NAVIGATOR_H
 #define _NAVIGATOR_H
 
@@ -68,4 +140,5 @@ public:
 	}
 };
 
+>>>>>>> .r199
 #endif