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authorschodet2003-05-22 18:02:01 +0000
committerschodet2003-05-22 18:02:01 +0000
commitd201c6b9e46b79b6dabb5a7cd753b95c108c0915 (patch)
treeb39117bb658ba4c072d97c92196f79c10ea11de0 /2003/i/buzz/src/busp/busp_servo.h
parent524be5fa549d7c598740b53aeda1c4432d546b01 (diff)
Ajoute des cli/sti.
Lecture du fichier de conf pour les servos. Capteurs.
Diffstat (limited to '2003/i/buzz/src/busp/busp_servo.h')
-rw-r--r--2003/i/buzz/src/busp/busp_servo.h9
1 files changed, 7 insertions, 2 deletions
diff --git a/2003/i/buzz/src/busp/busp_servo.h b/2003/i/buzz/src/busp/busp_servo.h
index 764293b..1545034 100644
--- a/2003/i/buzz/src/busp/busp_servo.h
+++ b/2003/i/buzz/src/busp/busp_servo.h
@@ -6,8 +6,11 @@
class BuspServo
{
- static const int m_address = 2;
- int m_pos[8];
+ static const int m_address = 1;
+ static const int m_nbServo = 8;
+ static const int m_nbPositions = 10;
+ int m_pos[m_nbServo];
+ int m_ppos[m_nbPositions][m_nbServo];
public:
// Constructeur.
BuspServo ();
@@ -15,6 +18,8 @@ class BuspServo
void moveTo (int n, int pos);
// Bouge le servo N de DIFF.
void move (int n, int diff);
+ // Déplace les servos pour atteindre une position.
+ void position (int p);
private:
// Fait le déplacement effectif.
void set (int n, int pos);