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+#ifndef gpio_servo_pp_h
+#define gpio_servo_pp_h
+// gpio_servo_pp.h
+// 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 "gpio.h"
+#include "servo.h"
+#include "serial/serial.h"
+#include "logger/log.h"
+
+#include <string>
+
+/// Classe pour la gestion de la carte servo à Pierre Prot.
+class GpioServoPp : public Gpio, public Servo
+{
+ /// Nombre d'entrées/sorties.
+ static const int nbInputs_ = 6, nbOutputs_ = 6, nbServo_ = 2;
+ /// Sorties courantes.
+ unsigned int outputs_;
+ /// Dernière valeurs d'entrées.
+ unsigned int inputs_;
+ /// Timeouts.
+ static const int inputRequestTimeout_ = 100, inputValidityTimeout_ = 100;
+ /// Date du dernier envois.
+ int lastInputRequestSend_;
+ /// Date de la dernière reception.
+ int lastInputRecv_;
+ /// Position des servos.
+ int servoPos_[nbServo_];
+ // Ligne série.
+ Serial serial_;
+ std::string ttyname_;
+ int ttyspeed_;
+ // Logger.
+ Log log_;
+ public:
+ /// Constructeur.
+ GpioServoPp (void);
+ /// Destructeur.
+ ~GpioServoPp (void);
+ /// Change plusieurs sorties.
+ void set (int n, unsigned int bits, int nb);
+ /// Change une sortie.
+ void set (int n, unsigned int bit);
+ /// Lit plusieurs entrées.
+ unsigned int get (int n, int nb);
+ /// Lit une entrée.
+ unsigned int get (int n);
+ /// Pré-lit plusieurs entrées.
+ bool preget (int n, int nb);
+ /// Pré-lit une entrée.
+ bool preget (int n);
+ /// Change la direction de plusieurs I/O.
+ void dir (int n, unsigned int bits, int nb);
+ /// Change la direction d'un I/O (1 pour I, 0 pour O).
+ void dir (int n, unsigned int bit);
+ /// Bouge un servo de DIFF.
+ void move (int n, int diff);
+ /// Bouge un servo en position POS.
+ void moveTo (int n, int pos);
+};
+
+#endif // gpio_servo_pp_h