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+// analog_servo_pp.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// 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 "analog_servo_pp.h"
+#include "config/config.h"
+
+/// Constructeur.
+AnalogServoPp::AnalogServoPp (GpioServoPp &gspp)
+ : gspp_ (gspp)
+{
+ Config rc ("rc/analog_servo_pp");
+ while (!rc.eof ())
+ {
+ double d;
+ rc >> d;
+ linear_.push_back (d);
+ }
+ // Construit la table des noms.
+ names_["ana0"] = 0;
+ names_["ana1"] = 1;
+ names_["ana2"] = 2;
+ names_["ana3"] = 3;
+}
+
+/// Récupère la valeur linéarisée du capteur n.
+double
+AnalogServoPp::get (int n)
+{
+ int i = gspp_.getAna (n);
+ if (i >= 0 && i < static_cast<int> (linear_.size ()))
+ return linear_[i];
+ else
+ return 0.0;
+}
+
+/// Récupère le nombre d'entrées analogiques.
+int
+AnalogServoPp::getNb (void) const
+{
+ return gspp_.getNbAna ();
+}
+
+/// Récupère une entrée par son nom.
+int
+AnalogServoPp::getByName (const std::string &name) const
+{
+ Names::const_iterator i = names_.find (name);
+ if (i != names_.end ())
+ return i->second;
+ else
+ return -1;
+}
+