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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/test_asserv.cc
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/test_asserv.cc')
-rw-r--r--2005/i/robert/src/asserv/test_asserv.cc14
1 files changed, 13 insertions, 1 deletions
diff --git a/2005/i/robert/src/asserv/test_asserv.cc b/2005/i/robert/src/asserv/test_asserv.cc
index 56483b6..ce3307a 100644
--- a/2005/i/robert/src/asserv/test_asserv.cc
+++ b/2005/i/robert/src/asserv/test_asserv.cc
@@ -276,11 +276,21 @@ main (int argc, char **argv)
throw std::runtime_error("syntax error");
asserv.setKd(strtod(argv[i], 0));
break;
+ case 'E':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setESat(strtol(argv[i], 0, 10));
+ break;
case 'I':
if(++i > argc)
throw std::runtime_error("syntax error");
asserv.setSpeedIntMax(strtol(argv[i], 0, 10));
break;
+ case 's':
+ if(++i > argc)
+ throw std::runtime_error("syntax error");
+ asserv.setDSample(strtol(argv[i], 0, 10));
+ break;
case 'A':
if(++i > argc)
throw std::runtime_error("syntax error");
@@ -289,7 +299,9 @@ main (int argc, char **argv)
case 'm':
if(++i > argc)
throw std::runtime_error("syntax error");
- asserv.setMaxSpeed(strtol(argv[i], 0, 10));
+ asserv.setMaxSpeed(strtol(argv[i], 0, 10),
+ strtol(argv[i + 1], 0, 10));
+ i++;
break;
case 'W':
if (++i + 1 > argc)