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-rw-r--r--2004/i/nono/src/motor/Makefile.defs8
-rw-r--r--2004/i/nono/src/motor/test_asserv.cc24
-rw-r--r--2004/i/nono/src/motor/test_tracker.cc13
3 files changed, 24 insertions, 21 deletions
diff --git a/2004/i/nono/src/motor/Makefile.defs b/2004/i/nono/src/motor/Makefile.defs
index 6002fd8..40ff385 100644
--- a/2004/i/nono/src/motor/Makefile.defs
+++ b/2004/i/nono/src/motor/Makefile.defs
@@ -1,10 +1,10 @@
TARGETS += test_motor test_asserv test_tracker test_goto_hermite
LIBS += motor.a
test_motor_SOURCES = test_motor.cc motor_cmd.cc motor.a serial.a \
- config.a date.a utils.a logger.a erreur.a
-test_asserv_SOURCES = test_asserv.cc motor.a serial.a erreur.a config.a \
+ config.a date.a utils.a logger.a
+test_asserv_SOURCES = test_asserv.cc motor.a serial.a config.a \
date.a utils.a logger.a
-test_tracker_SOURCES = test_tracker.cc motor.a serial.a erreur.a config.a \
+test_tracker_SOURCES = test_tracker.cc motor.a serial.a config.a \
date.a utils.a logger.a
motor_a_SOURCES = asserv.cc tracker.cc motor.cc \
movement_basic.cc movement_goto.cc movement_rotation.cc \
@@ -12,7 +12,7 @@ motor_a_SOURCES = asserv.cc tracker.cc motor.cc \
goto_simple.cc goto_circle.cc goto_hermite.cc \
goto_tracker.cc
test_goto_hermite_SOURCES = goto_hermite.cc test_goto_hermite.cc tracker.cc \
- config.a logger.a erreur.a
+ config.a logger.a
test_motor: $(test_motor_SOURCES:%.cc=%.o)
diff --git a/2004/i/nono/src/motor/test_asserv.cc b/2004/i/nono/src/motor/test_asserv.cc
index cd8b55e..c83e72d 100644
--- a/2004/i/nono/src/motor/test_asserv.cc
+++ b/2004/i/nono/src/motor/test_asserv.cc
@@ -23,12 +23,12 @@
//
// }}}
#include "asserv.h"
-#include "erreur/erreur.h"
#include "date/date.h"
#include <iostream>
#include <unistd.h>
-#include <stdlib.h>
+#include <cstdlib>
+#include <stdexcept>
using namespace std;
@@ -77,22 +77,22 @@ main (int argc, char **argv)
{
case 's':
at.reset ();
- cout << "stop" << endl;
+ std::cout << "stop" << std::endl;
i++;
m.stop ();
break;
case 'z':
- cout << "rezet" << endl;
+ std::cout << "rezet" << std::endl;
i++;
m.reset ();
break;
case 'g':
- cout << "go" << endl;
+ std::cout << "go" << std::endl;
i++;
m.setAsserv ();
break;
case 'G':
- cout << "ungo" << endl;
+ std::cout << "ungo" << std::endl;
i++;
m.setAsserv (false);
break;
@@ -103,7 +103,7 @@ main (int argc, char **argv)
vg = atoi (argv[i++]);
if (i >= argc) break;
vd = atoi (argv[i++]);
- cout << "speed " << vg << ' ' << vd << endl;
+ std::cout << "speed " << vg << ' ' << vd << std::endl;
m.speed (vg, vd);
break;
case '?':
@@ -117,8 +117,10 @@ main (int argc, char **argv)
syntax ();
return 1;
}
- cout << "sleep " << s << endl;
- for (int j = 0; j < s * 1000 / 50; ++j)
+ std::cout << "sleep " << s << std::endl;
+ int start;
+ start = Date::getInstance ().start ();
+ while (Date::getInstance ().start () < start + s)
{
m.ok ();
Date::wait (1);
@@ -130,9 +132,9 @@ main (int argc, char **argv)
at.aff ();
return 0;
}
- catch (Erreur &e)
+ catch (const std::exception &e)
{
- cerr << e.what () << endl;
+ std::cerr << e.what () << std::endl;
return 1;
}
}
diff --git a/2004/i/nono/src/motor/test_tracker.cc b/2004/i/nono/src/motor/test_tracker.cc
index 18d709f..246e625 100644
--- a/2004/i/nono/src/motor/test_tracker.cc
+++ b/2004/i/nono/src/motor/test_tracker.cc
@@ -23,10 +23,10 @@
//
// }}}
#include "tracker.h"
-#include "erreur/erreur.h"
-#include <stdlib.h>
+#include <cstdlib>
#include <iostream>
+#include <stdexcept>
int
main (int argc, char **argv)
@@ -44,9 +44,10 @@ main (int argc, char **argv)
double x = atof (argv[i]);
double y = atof (argv[i + 1]);
double el, ea;
- t.computeError (x, y, el, ea);
+ double a;
+ t.computeError (x, y, el, ea, a);
std::cout << "error " << x << ' ' << y << ' ' << el << ' ' <<
- ea << std::endl;
+ ea << ' ' << a << std::endl;
}
break;
case 'a':
@@ -74,9 +75,9 @@ main (int argc, char **argv)
}
return 0;
}
- catch (Erreur &e)
+ catch (const std::exception &e)
{
- cerr << e.what () << endl;
+ std::cerr << e.what () << std::endl;
return 1;
}
}