summaryrefslogtreecommitdiff
path: root/2004/i/nono/src/motor/asserv.h
diff options
context:
space:
mode:
Diffstat (limited to '2004/i/nono/src/motor/asserv.h')
-rw-r--r--2004/i/nono/src/motor/asserv.h12
1 files changed, 8 insertions, 4 deletions
diff --git a/2004/i/nono/src/motor/asserv.h b/2004/i/nono/src/motor/asserv.h
index aa39324..50d2627 100644
--- a/2004/i/nono/src/motor/asserv.h
+++ b/2004/i/nono/src/motor/asserv.h
@@ -51,22 +51,26 @@ class Asserv
// Paramètres.
int accel_, kp_, ki_, kd_;
int statMotor_;
- bool counter_;
+ int counter_;
bool posAsserv_;
int gpiDelay_;
bool asserv_;
int zeroEps_;
bool noSetParam_;
- // File d'emmission.
+ // File d'emission.
std::queue<std::string> sendQueue_;
+ static const int recvTimeout_ = 500;
+ int lastSent_;
// Buffer de reception.
int inBufSize_, inBufPos_;
char *inBuf_;
// Anciènne valeur des compteur.
bool firstCounter_;
int countLeft_, countRight_;
- // Valeur de l'entrée GPI.
+ int countLeftSum_, countRightSum_;
+ // Valeurs GPIO.
unsigned int gpi_;
+ unsigned int gpo_;
// Objet interessé par les stats.
AsservTracker &asservTracker_;
// Système de log.
@@ -97,7 +101,7 @@ class Asserv
void setKi (int ki);
void setKd (int kd);
void setStatMotor (int delay);
- void setCounter (bool fl = true);
+ void setCounter (int delay);
void setPosAsserv (bool fl = true);
void setGpiDelay (int delay);
void setAsserv (bool fl = true);