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Diffstat (limited to '2004/i/nono/src/motor/asserv.h')
-rw-r--r--2004/i/nono/src/motor/asserv.h11
1 files changed, 11 insertions, 0 deletions
diff --git a/2004/i/nono/src/motor/asserv.h b/2004/i/nono/src/motor/asserv.h
index c391e41..aa39324 100644
--- a/2004/i/nono/src/motor/asserv.h
+++ b/2004/i/nono/src/motor/asserv.h
@@ -53,6 +53,7 @@ class Asserv
int statMotor_;
bool counter_;
bool posAsserv_;
+ int gpiDelay_;
bool asserv_;
int zeroEps_;
bool noSetParam_;
@@ -64,6 +65,8 @@ class Asserv
// Anciènne valeur des compteur.
bool firstCounter_;
int countLeft_, countRight_;
+ // Valeur de l'entrée GPI.
+ unsigned int gpi_;
// Objet interessé par les stats.
AsservTracker &asservTracker_;
// Système de log.
@@ -96,12 +99,18 @@ class Asserv
void setStatMotor (int delay);
void setCounter (bool fl = true);
void setPosAsserv (bool fl = true);
+ void setGpiDelay (int delay);
void setAsserv (bool fl = true);
//@}
/// Get factor to deduce speed scale from scale.
double getSpeedFactor (void) const;
/// Get factor to deduce accel scale from scale.
double getAccelFactor (void) const;
+ /// Récupère l'entrée GPI.
+ unsigned int getGpi (void) const
+ { return gpi_; }
+ /// Envois la sortie GPO.
+ void sendGpo (unsigned int gpo);
protected:
/// @{
/// Envoie un message.
@@ -120,6 +129,8 @@ class Asserv
void handleStatMotor (void);
/// Traite un message du compteur.
void handleCounter (void);
+ /// Traite les GPI.
+ void handleGpi (void);
};
#endif // asserv_h