From c9f14499885b3c087aa5b107156cc91b48917a7c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 21 Mar 2013 00:35:55 +0100 Subject: digital/io-hub/src/apbirthday: add first I2C slave --- digital/io-hub/src/apbirthday/robot.hh | 10 ++++++++++ 1 file changed, 10 insertions(+) (limited to 'digital/io-hub/src/apbirthday/robot.hh') diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh index d65b2a3a..e0b50f41 100644 --- a/digital/io-hub/src/apbirthday/robot.hh +++ b/digital/io-hub/src/apbirthday/robot.hh @@ -24,12 +24,16 @@ // // }}} #include "hardware.hh" +#include "asserv.hh" #include "ucoolib/base/proto/proto.hh" /// Main robot superclass. class Robot : public ucoo::Proto::Handler { + public: + /// Scaling factor, millimeter per step. + static const float scale = 0.0395840674352314; public: /// Initialise robot singleton. Robot (); @@ -42,6 +46,12 @@ class Robot : public ucoo::Proto::Handler public: /// Public access to hardware class. Hardware hardware; + private: + /// Main I2C queue. + I2cQueue main_i2c_queue_; + public: + /// Public access to asserv class. + Asserv asserv; private: /// Proto associated to each serial interface. ucoo::Proto dev_proto, zb_proto, usb_proto; -- cgit v1.2.3