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authorhaller2005-05-02 19:02:10 +0000
committerhaller2005-05-02 19:02:10 +0000
commit4fa1434052dd603cec70f0edfeeca8f47905fbfe (patch)
tree051959314bd51ca17d9b90567b64a90ff3a1f876 /2005/i/robert/src/asserv/asserv.hh
parent1919e963fa7c7004e121b690b2d6d0021ddf41a2 (diff)
Ajout des paramètres d'asserv eSat et dSample
Ajout d'une vietesse linéaire et rotation
Diffstat (limited to '2005/i/robert/src/asserv/asserv.hh')
-rw-r--r--2005/i/robert/src/asserv/asserv.hh9
1 files changed, 7 insertions, 2 deletions
diff --git a/2005/i/robert/src/asserv/asserv.hh b/2005/i/robert/src/asserv/asserv.hh
index 246ef5c..b322e0b 100644
--- a/2005/i/robert/src/asserv/asserv.hh
+++ b/2005/i/robert/src/asserv/asserv.hh
@@ -69,8 +69,11 @@ class Asserv : public NonCopyable, public Proto::Receiver
double kp_;
double ki_;
double kd_;
+ int eSat_;
int speedIntMax_;
- int maxSpeed_; //unité AVR
+ int dSample_;
+ int maxSLin_;//unité AVR
+ int maxSRot_;
bool leftInvPwm_, rightInvPwm_;
bool useTazFSM_;
// Stat
@@ -126,10 +129,12 @@ class Asserv : public NonCopyable, public Proto::Receiver
void setKp (double kp);
void setKi (double ki);
void setKd (double kd);
+ void setESat (int eSat);
void setSpeedIntMax (int maxInt);
+ void setDSample(int dSample);
void setAccel (int accel);
double getAccel (void);
- void setMaxSpeed(int maxSpeed);
+ void setMaxSpeed(int maxSLin, int maxSRot);
void setUseTazFSM(bool use);
void setInvPwm(bool leftInvPwm, bool rightInvPwm);
//@}