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authorgalmes2004-01-25 16:27:25 +0000
committergalmes2004-01-25 16:27:25 +0000
commit922ad44dedc5e217bcf99cf98f9fb940f4774101 (patch)
treece1b4966cbbc6141ce04df79b33f5076fd0d31e4 /i/siroco/src/message_asservissement_info.cc
parenta8609189954e4708b0aec010e336a9994aee3a44 (diff)
Implémentation de la classe MessageAsservissementData
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diff --git a/i/siroco/src/message_asservissement_info.cc b/i/siroco/src/message_asservissement_info.cc
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+// message_asservissement_info.cc
+// {{{
+//
+// Copyright (C) 2004 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.
+//
+// }}}
+#include "message_asservissement_info.h"
+
+
+namespace Siroco
+{
+
+// Constructeur.
+MessageAsservissementInfo :: MessageAsservissementInfo
+ (Type type, int p, int i, int d, int consignMin,
+ int pwmMin, int measureMin, int consignMax, int
+ pwmMax, int measureMax)
+ :Message (type)
+{
+ // Coefficient relatifs à l'asservissement
+ p_ = p;
+ i_ = i;
+ d_ = d;
+
+ // valeurs Min et Max des paramètres c, p et m.
+ consignMin_ = consignMin;
+ consignMax_ = consignMax;
+ pwmMin_ = pwmMin;
+ pwmMax_ = pwmMax;
+ measureMin_ = measureMax;
+ measureMax_ = measureMax;
+}
+
+// Destructeur.
+MessageAsservissementInfo :: ~MessageAsservissementInfo (void)
+{
+}
+
+
+// Renvoyer les valeur de p_, i_ et d_.
+void
+MessageAsservissementInfo :: getPID (int &p, int &i, int &d) const
+{
+ p = p_;
+ i = i_;
+ d = d_;
+}
+
+//
+void
+MessageAsservissementInfo :: getMinMax (int &consignMin, int &pwmMin, int
+ &measureMin, int &consignMax, int
+ &pwmMax, int &measureMax) const
+{
+ consignMin = consignMin_;
+ consignMax = consignMax_;
+ pwmMin = pwmMin_;
+ pwmMax = pwmMax_;
+ measureMin = measureMax_;
+ measureMax = measureMax_;
+}
+
+}; // namespace Siroco