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authorhaller2005-04-10 23:22:53 +0000
committerhaller2005-04-10 23:22:53 +0000
commit44dabc13b2aae37adcecfb79be8af75877075c0a (patch)
treee7a7b6a6751c9351e2380a2ab005c9defbe474f7 /2005/i/robert/src/asserv/asserv.hh
parent376a43f7b52894891f2a033230687f701a96ef85 (diff)
Ajout de asserv
Première déclaration de asserv basé sur l'asserv de nono
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+#ifndef asserv_hh
+#define asserv_hh
+// asserv.hh
+// robert - programme du robot 2005 {{{
+//
+// Copyright (C) 2005 Nicolas Haller
+//
+// Robot APB Team/Efrei 2005.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+
+#include "utils/non_copyable.hh"
+#include "proto/proto.hh"
+#include "log/log.hh"
+
+/// Classe de dialogue avec la carte d'asservissement.
+class Asserv : public NonCopyable, public Proto::Receiver
+{
+ // Communication avec l'AVR
+ Proto proto_;
+ // Paramtres.
+ int accel_, kp_, ki_, kd_;
+ int statMotor_;
+ int counter_;
+ bool posAsserv_;
+ int gpiDelay_;
+ bool asserv_;
+ int zeroEps_;
+ bool noSetParam_;
+ // Ancienne valeur des compteur.
+ bool firstCounter_;
+ int countLeft_, countRight_;
+ int countLeftSum_, countRightSum_;
+ // Valeurs GPIO.
+ unsigned int gpi_;
+ unsigned int gpo_;
+ // Systme de log.
+ Log log_;
+ public:
+ /// Constructeur.
+ Asserv (const Config & config);
+ /// Destructeur. XXX Y'a besoin du destructeur?
+ ~Asserv (void);
+ /// Reset la carte et envois les paramtres.
+ void reset (void);
+ /// Teste si l'mission est termine.
+ bool ok (void);
+ /// Attend que toute les missions soit termines.
+ void waitOk (void);
+ //@{
+ /// Change les paramtres de la carte.
+ void setAccel (int accel);
+ void setKp (int kp);
+ void setKi (int ki);
+ void setKd (int kd);
+ void setStatMotor (int delay);
+ void setCounter (int delay);
+ void setPosAsserv (bool fl = true);
+ void setGpiDelay (int delay);
+ void setAsserv (bool fl = true);
+ //@}
+};
+
+#endif // asserv_h