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authorschodet2003-05-25 16:50:59 +0000
committerschodet2003-05-25 16:50:59 +0000
commit8808da5ae1dbc8f005bd5b2267cf31478d94b9e5 (patch)
tree24e73f119c30e9711f569150b3bbc019fb83661c /2003/i/buzz/src/busp
parent22908ff52497b931b762c5e87e19f2a47dfc100a (diff)
Fix: ça compile
Add: utilisation de Config
Diffstat (limited to '2003/i/buzz/src/busp')
-rw-r--r--2003/i/buzz/src/busp/Makefile.defs2
-rw-r--r--2003/i/buzz/src/busp/busp.h3
-rw-r--r--2003/i/buzz/src/busp/busp_servo.cc10
-rw-r--r--2003/i/buzz/src/busp/test_busp.cc4
4 files changed, 10 insertions, 9 deletions
diff --git a/2003/i/buzz/src/busp/Makefile.defs b/2003/i/buzz/src/busp/Makefile.defs
index 1477ac9..aa3bd09 100644
--- a/2003/i/buzz/src/busp/Makefile.defs
+++ b/2003/i/buzz/src/busp/Makefile.defs
@@ -1,5 +1,5 @@
TARGETS += test_busp
test_busp_SOURCES = busp.cc busp_ir.cc busp_servo.cc busp_capteurs.cc \
- test_busp.cc erreur.a
+ busp_actionneurs.cc test_busp.cc erreur.a config.a
test_busp: $(test_busp_SOURCES:%.cc=%.o)
diff --git a/2003/i/buzz/src/busp/busp.h b/2003/i/buzz/src/busp/busp.h
index c56219b..3bbabe4 100644
--- a/2003/i/buzz/src/busp/busp.h
+++ b/2003/i/buzz/src/busp/busp.h
@@ -6,6 +6,7 @@
#include "busp_ir.h"
#include "busp_servo.h"
#include "busp_capteurs.h"
+#include "busp_actionneurs.h"
// Gère le busp coté hard.
class Busp
@@ -14,6 +15,7 @@ class Busp
BuspIr m_ir;
BuspServo m_servo;
BuspCapteurs m_capteurs;
+ BuspActionneurs m_actionneurs;
static Busp *m_instance;
public:
volatile int irqs;
@@ -39,6 +41,7 @@ class Busp
BuspIr &getIr (void) { return m_ir; }
BuspServo &getServo (void) { return m_servo; }
BuspCapteurs &getCapteurs (void) { return m_capteurs; }
+ BuspActionneurs &getActionneurs (void) { return m_actionneurs; }
};
diff --git a/2003/i/buzz/src/busp/busp_servo.cc b/2003/i/buzz/src/busp/busp_servo.cc
index ae1536f..ad95c34 100644
--- a/2003/i/buzz/src/busp/busp_servo.cc
+++ b/2003/i/buzz/src/busp/busp_servo.cc
@@ -4,9 +4,7 @@
//
#include "busp_servo.h"
#include "busp.h"
-#include "erreur.h"
-
-#include <fstream>
+#include "config/config.h"
// Constructeur.
BuspServo::BuspServo ()
@@ -15,16 +13,14 @@ BuspServo::BuspServo ()
for (int i = 0; i < m_nbServo; ++i)
m_pos[i] = 127;
// Lectures des positions préprogrammées.
- ifstream rc ("rc/busp/servo");
+ Config rc ("rc/busp/servo");
for (int i = 0; i < m_nbPositions; ++i)
for (int s = 0; s < m_nbServo; ++s)
{
m_ppos[i][s] = -1;
rc >> m_ppos[i][s];
}
- // Vérifie les erreurs.
- if (rc.bad ())
- throw ErreurFatale ("Impossible d'ouvrir `rc/busp/servo'\n");
+ rc.getEof ();
}
// Bouge le servo N en POS.
diff --git a/2003/i/buzz/src/busp/test_busp.cc b/2003/i/buzz/src/busp/test_busp.cc
index a3b7c9e..154e83c 100644
--- a/2003/i/buzz/src/busp/test_busp.cc
+++ b/2003/i/buzz/src/busp/test_busp.cc
@@ -81,7 +81,7 @@ main (int argc, char **argv)
if (strcmp (argv[2], "all") == 0)
{
busp.getActionneurs ().setAll (atoi (argv[3]),
- atoi (argv[4]))
+ atoi (argv[4]));
}
else
{
@@ -191,6 +191,8 @@ testCapteurs (void)
while (1)
{
Busp::getInstance ().getCapteurs ().dump ();
+ cout << '\r';
+ cout.flush ();
sleep (1);
}
}