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-rw-r--r--digital/io-hub/src/common-cc/asserv.hh11
1 files changed, 8 insertions, 3 deletions
diff --git a/digital/io-hub/src/common-cc/asserv.hh b/digital/io-hub/src/common-cc/asserv.hh
index ea6f5ec4..07d5f8ef 100644
--- a/digital/io-hub/src/common-cc/asserv.hh
+++ b/digital/io-hub/src/common-cc/asserv.hh
@@ -58,7 +58,7 @@ class Asserv : public I2cQueue::Slave
/// Get last moving direction.
Direction get_last_moving_direction () const;
/// Get current position.
- void get_position (Position &position) const;
+ const Position &get_position () const;
/// Release motors (zero torque).
void free ();
/// Stop moving, applying acceleration constraints.
@@ -91,8 +91,7 @@ class Asserv : public I2cQueue::Slave
private:
uint8_t status_flag_;
uint8_t input_port_;
- int position_x_, position_y_;
- uint16_t position_a_;
+ Position position_;
Direction last_moving_direction_;
float scale_, scale_inv_;
};
@@ -125,4 +124,10 @@ Asserv::get_last_moving_direction () const
return last_moving_direction_;
}
+inline const Position &
+Asserv::get_position () const
+{
+ return position_;
+}
+
#endif // asserv_hh