File content as of revision 29:f8bda24002f6:

     /* Copyright (c) 2012 - 2013 AUTHEUR
 *
 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED 
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 
 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT 
 * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
 * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, 
 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 
 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
 /*
 * Description
 * Input
 * Output
 */
 
 #include "Module_Mouvement.h"
 
 // Pointeur sur la classe systeme d'exploitation instancié dans le main
 extern mbos *os;
 
 
 /* CONSRTRUCTEUR(S) */
 ModuleMouvement::ModuleMouvement()
 {
 m_motor1 = new Motor(p21, p6, p5);
 m_motor2 = new Motor(p22, p6, p5);
 m_motor3 = new Motor(p23, p6, p5);
 m_motor4 = new Motor(p24, p6, p5);  
 }
 
 /* DESTRUCTEUR */
 ModuleMouvement::~ModuleMouvement()
 {
 delete m_motor1;
 delete m_motor2;
 delete m_motor3;
 delete m_motor4;
 }
 
 
 /*Get*/ 
 int ModuleMouvement::GetpVitesseFonctionnement()
  { return pVitesseFonctionnement; } 
  
 int ModuleMouvement::GetuiCommand()
  { return m_uiCommand; }
  
 int ModuleMouvement::GetuiDistance()
  { return m_uiDistance; } 
   
  
  /*Set*/
  void ModuleMouvement::SetpVitesseFonctionnement(int m)
   { pVitesseFonctionnement = m ; }
   
  void ModuleMouvement::SetuiCommand(int n)
   { m_uiCommand = n ; }
   
  void ModuleMouvement::SetuiDistance(int o)
   { m_uiDistance = o ; }
   
   
 
 /* Point d'entrée de la tache Module Mouvement */
 void ModuleMouvement::ModuleMouvement_Task(void)
 {
    while(1){
    // recuperation commande provenant de trajectoire, comment recup, quel format, quel taille?
    // gestion motors
    // gestion stabilisation, get services?
    }
 }
 
 void ModuleMouvement::VolStationnaire(void)
 {
     m_motor1.speed(0.2); // a def
     m_motor2.speed(0.2); // a def
     m_motor3.speed(0.2); // a def
     m_motor4.speed(0.2); // a def
     while ( /*pas de nouvelle commande*/ )
      {
        wait(0.1);
      }
     m_motor1.stop();
     m_motor2.stop();
     m_motor3.stop();
     m_motor4.stop();
     wait(0.01); 
     return;
 }
 
 void ModuleMouvement::GestionVitesseMotors(int m_uiCommand, int m_uiDistance)
 {
    bool CommandFin = false;
    
     switch (m_uiCommand)
      {
        /*haut*/      
        case 0 :
        //Liste infos;
        break;
        
        /*bas*/
        case 1 :
        //liste infos;
        break;
        
        /*rotation gauche*/
        case 2 :
        //liste infos;
        break;
        
        /*rotation droite*/
        case 3 :
        //Liste infos;
        break;
        
        /*gauche*/
        case 4 :
        //Liste infos;
        break;
        
        /*droite*/
        case 5 :
        //liste infos;
        break; 
        
        /*avance*/
        case 6 :
        //Liste infos;
        break;
        
        /*recule*/
        case 7 :
        //Liste infos
        break;
     
        CommandFin = true;
      }
 }
 
 void ModuleMouvement::GestionStabilisation(void)
 {
 
 }
 
 void ModuleMouvement:TestMotor(void)
 {
       for (float s= -1.0; s < 1.0 ; s += 0.01) 
       {
       m_motor1.speed(s); 
       wait(0.02); 
       }
       m_motor1.stop();
       
    
       
       for (float s= -1.0; s < 1.0 ; s += 0.01) 
       {
       m_motor2.speed(s); 
       wait(0.02); 
       }
       m_motor2.stop();
  
       
       for (float s= -1.0; s < 1.0 ; s += 0.01) 
       {
       m_motor3.speed(s); 
       wait(0.02); 
       }
       m_motor3.stop();
    
       
       for (float s= -1.0; s < 1.0 ; s += 0.01) 
       {
       m_motor4.speed(s); 
       wait(0.02); 
       }
       m_motor4.stop();
 }