RobotKit/RKDriveAlgorithm.h

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//
//  RKDriveAlgorithm.h
//  RobotKit
//
//  Copyright 2010 Orbotix Inc. All rights reserved.
//

#import <Foundation/Foundation.h>

@interface RKDriveAlgorithm : NSObject {
    @private
    double  angle;
    double  correctionAngle;
    double  velocity;
    double  velocityScale;
    double  stopOffset;
    
    double  windowDeltaForCoord1;
    double  windowDeltaForCoord2;
    double  windowDeltaForCoord3;
    
    id      target;
    SEL     action;
}

@property (nonatomic, assign) double angle;

@property (nonatomic, assign) double correctionAngle;
 
@property (nonatomic, assign) double velocity;

@property (nonatomic, assign) id target;

@property (nonatomic, assign) SEL action;

@property (nonatomic, assign) double velocityScale;

@property (nonatomic, assign) double stopOffset;

@property (nonatomic, assign) double windowDeltaForCoord1;

@property (nonatomic, assign) double windowDeltaForCoord2;

@property (nonatomic, assign) double windowDeltaForCoord3;


- (void)convertWithCoord1:(double)coord1 coord2:(double)coord2 coord3:(double)coord3;

- (void)performConversionFinishedAction;

@end