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authorschodet2004-04-22 22:01:08 +0000
committerschodet2004-04-22 22:01:08 +0000
commitdddf37ebeac3b89c7e1cfe644ceefa85d2d02aec (patch)
tree2db2b8ee9a290004fc60655cd431f456e99f2889 /2004/i/nono/src/motor/asserv.h
parent96ee48cd9845c16b999c3e6d2caecdb448a47194 (diff)
Nouvelle version de la carte d'asservissement.
Nouvelle version MovementGoto.
Diffstat (limited to '2004/i/nono/src/motor/asserv.h')
-rw-r--r--2004/i/nono/src/motor/asserv.h12
1 files changed, 8 insertions, 4 deletions
diff --git a/2004/i/nono/src/motor/asserv.h b/2004/i/nono/src/motor/asserv.h
index 2ff8c30..60b9893 100644
--- a/2004/i/nono/src/motor/asserv.h
+++ b/2004/i/nono/src/motor/asserv.h
@@ -48,8 +48,11 @@ class Asserv
int ttyspeed_;
// Paramètres.
int accel_, kp_, ki_, kd_;
- bool statMotor_, counter_;
+ int statMotor_;
+ bool counter_;
bool posAsserv_;
+ bool asserv_;
+ bool noSetParam_;
// File d'emmission.
std::queue<std::string> sendQueue_;
// Buffer de reception.
@@ -69,8 +72,8 @@ class Asserv
~Asserv (void);
/// Reset la carte et envois les paramètres.
void reset (void);
- /// Active l'asservissement.
- void go (bool fl = true);
+ /// Paramètre la carte d'asservissement.
+ void setParam (void);
/// Stop !
void stop (void);
/// Réglage de la vitesse.
@@ -88,9 +91,10 @@ class Asserv
void setKp (int kp);
void setKi (int ki);
void setKd (int kd);
- void setStatMotor (bool fl = true);
+ void setStatMotor (int delay);
void setCounter (bool fl = true);
void setPosAsserv (bool fl = true);
+ void setAsserv (bool fl = true);
/// @}
protected:
/// @{