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authorschodet2003-11-15 22:46:05 +0000
committerschodet2003-11-15 22:46:05 +0000
commit032165203253df50890cf9a43d373d86792f3a21 (patch)
tree5b5930d7c531befdb803429217109b11ec733a87 /i/siroco/src/communication_asservissement_control.h
parentea695ca13b725b6f2037986ef26fa1fea06b8faf (diff)
Initial revision
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+#ifndef communication_asservissement_control_h
+#define communication_asservissement_control_h
+// communication_asservissement_control.h
+// {{{
+//
+// Copyright (C) 2003 Nicolas Schodet et Pierre-André Galmes
+//
+// Robot APB Team/Efrei 2004.
+// 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.
+//
+// }}}
+
+class CommunicationAsservissementControl
+{
+ class Connector
+ {
+ public:
+ // Envoie les inforamtions de PID à l'objet.
+ virtual void recvPID (int p, int i, int d) = 0;
+ };
+ Connector &connector_;
+ public:
+ // Paramètre le connecteur.
+ void setConnector (Connector &c);
+ // Recoie un message.
+ void recv (const Message &m);
+ // Envoie des messages de changement de Coef.
+ void coefP (int val) const;
+ void coefI (int val) const;
+ void coefD (int val) const;
+};
+
+#endif // communication_asservissement_control_h