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authorhaller2005-04-17 02:32:07 +0000
committerhaller2005-04-17 02:32:07 +0000
commitdcb901c549f81eb8124458448ce40e305a98fd4d (patch)
tree4f313b99dcf91073f0c178a6dd48957c397b93a1 /2005/i/robert/src/asserv/asserv.cc
parentf0d97a476182f9f6fbe91cac516cf045d84f051e (diff)
Corrections de quelques erreurs de syntaxe
classe à tester avec un port série
Diffstat (limited to '2005/i/robert/src/asserv/asserv.cc')
-rw-r--r--2005/i/robert/src/asserv/asserv.cc19
1 files changed, 11 insertions, 8 deletions
diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc
index e3a0f59..358a3fc 100644
--- a/2005/i/robert/src/asserv/asserv.cc
+++ b/2005/i/robert/src/asserv/asserv.cc
@@ -241,6 +241,7 @@ void Asserv::setKd(double Kd)
void Asserv::setSpeedIntMax(int16_t maxInt)
{
+ speedIntMax_ = maxInt;
proto_.send('p', "bW", 'a', maxInt);
}
@@ -334,14 +335,16 @@ void Asserv::receive(char command, const Proto::Frame &frame)
/// Charge les donnes de la classe config
void Asserv::loadConfig(const Config & config)
{
- footing_ = config.get<int16_t>("asserv.footing");
- epsilon_ = config.get<double>("asserv.epsilon");
- accel_ = config.get<double>("asserv.accel");
- kp_ = config.get<double>("asserv.kp");
- ki_ = config.get<double>("asserv.ki");
- kd_ = config.get<double>("asserv.kd");
- maxSpeed_ = config.get<double>("asserv.maxSpeed");
- pwmMax_ = config.get<double>("asserv.maxPwm");
+ ttyName_ = config.get<std::string>("asserv.tty");
+ footing_ = config.get<int>("asserv.footing");
+ epsilon_ = config.get<double>("asserv.epsilon");
+ accel_ = config.get<double>("asserv.accel");
+ kp_ = config.get<double>("asserv.kp");
+ ki_ = config.get<double>("asserv.ki");
+ kd_ = config.get<double>("asserv.kd");
+ speedIntMax_ = config.get<int>("asserv.speedIntMax");
+ maxSpeed_ = config.get<double>("asserv.maxSpeed");
+ pwmMax_ = config.get<int>("asserv.pwmMax");
}
int Asserv::mm2pasD(double dist)