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Diffstat (limited to '2005/i/robert/src/asserv/asserv.cc')
-rw-r--r--2005/i/robert/src/asserv/asserv.cc58
1 files changed, 29 insertions, 29 deletions
diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc
index 36b7534..41ba763 100644
--- a/2005/i/robert/src/asserv/asserv.cc
+++ b/2005/i/robert/src/asserv/asserv.cc
@@ -87,7 +87,7 @@ void Asserv::linearMove(double distance)
{
// Conversion mm->PasW
int distPas = mm2pas(distance);
- log_ ("linearMove") << "avConv" << distance << "apConv" << distPas;
+ //log_ ("linearMove") << "avConv" << distance << "apConv" << distPas;
// On envoie la commande à l'AVR
proto_.send('l', "w", distPas);
}
@@ -96,7 +96,7 @@ void Asserv::angularMove(double angle)
{
// Conversion radian->256ème
int a = radTo256(angle);
- log_ ("angularMove") << "avConv" << angle << "apConv" << a;
+ //log_ ("angularMove") << "avConv" << angle << "apConv" << a;
// Envopie vers avr
proto_.send('a',"b", a);
}
@@ -106,8 +106,8 @@ void Asserv::goToPosition(double xPos, double yPos)
// Convertion mm->PasD
int x = mm2pas(xPos, true);
int y = mm2pas(yPos, true);
- log_ ("goToPosition") << "avConvX" << xPos << "apConvX" << x;
- log_ ("goToPosition") << "avConvY" << yPos << "apConvY" << y;
+ //log_ ("goToPosition") << "avConvX" << xPos << "apConvX" << x;
+ //log_ ("goToPosition") << "avConvY" << yPos << "apConvY" << y;
// Envoie vers l'AVR
proto_.send('g', "dd", x, y);
}
@@ -117,14 +117,14 @@ void Asserv::fuckTheWall(double speed)
{
// Conversion mm/s->Pas/Period
int v = mms2ppp(speed);
- log_ ("fuckTheWall") << "avConv" << speed << "apConv" << v;
+ //log_ ("fuckTheWall") << "avConv" << speed << "apConv" << v;
// Envoie vers l'AVR
fuckTheWall(v);
}
void Asserv::fuckTheWall(int speed)
{
- log_ ("fuckTheWall") << "avConv";
+ //log_ ("fuckTheWall") << "avConv";
// Envoie vers l'AVR
proto_.send('f',"b", speed);
}
@@ -134,24 +134,24 @@ void Asserv::setSpeed(double xSpeed, double ySpeed)
// Conversion mm/s->Pas/Period
int vx = mms2ppp(xSpeed);
int vy = mms2ppp(ySpeed);
- log_ ("setSpeed") << "avConvX" << xSpeed << "apConvX" << vx;
- log_ ("setSpeed") << "avConvY" << ySpeed << "apConvY" << vy;
+ //log_ ("setSpeed") << "avConvX" << xSpeed << "apConvX" << vx;
+ //log_ ("setSpeed") << "avConvY" << ySpeed << "apConvY" << vy;
// Envoie vers l'AVR
setSpeed(vx,vy);
}
void Asserv::setSpeed(int xSpeed, int ySpeed)
{
- log_ ("setSpeed") << "avConvX" << xSpeed ;
- log_ ("setSpeed") << "avConvY" << ySpeed ;
+ //log_ ("setSpeed") << "avConvX" << xSpeed ;
+ //log_ ("setSpeed") << "avConvY" << ySpeed ;
// Envoie vers l'AVR
proto_.send('s',"bb", xSpeed, ySpeed);
}
void Asserv::setPwm(int xPwm, int yPwm)
{
- log_ ("setPwm") << "avConvX" << xPwm;
- log_ ("setPwm") << "avConvY" << yPwm;
+ //log_ ("setPwm") << "avConvX" << xPwm;
+ //log_ ("setPwm") << "avConvY" << yPwm;
// Envoie sur l'AVR
proto_.send('w',"ww" ,xPwm, yPwm);
}
@@ -169,64 +169,64 @@ void Asserv::statCounter(int period)
pCounter_ = period;
// Convertion s->Period
- int p = s2period(period);
- log_ ("statCounter") << "avConv" << period << "apConv" << p;
+ //int p = s2period(period);
+ //log_ ("statCounter") << "avConv" << period << "apConv" << p;
// Envoie sur l'AVR
- proto_.send('C', "b", p);
+ proto_.send('C', "b", period);
}
void Asserv::statPosition(int period)
{
pPosition_ = period;
// Convertion s->Period
- int p = s2period(period);
+ //int p = s2period(period);
// Envoie sur l'AVR
- proto_.send('X', "b", p);
+ proto_.send('X', "b", period);
}
void Asserv::statMotor(int period)
{
pMotor_ = period;
// Convertion s->Period
- int p = s2period(period);
+ //int p = s2period(period);
// Envoie sur l'AVR
- proto_.send('S', "b", p);
+ proto_.send('S', "b", period);
}
void Asserv::statPwm(int period)
{
pPwm_ = period;
// Convertion s->Period
- int p = s2period(period);
+ // int p = s2period(period);
// Envoie sur l'AVR
- proto_.send('W', "b", p);
+ proto_.send('W', "b", period);
}
void Asserv::statTiming(int period)
{
pTiming_ = period;
// Convertion s->Period
- int p = s2period(period);
+ //int p = s2period(period);
// Envoie sur l'AVR
- proto_.send('T', "b", p);
+ proto_.send('T', "b", period);
}
void Asserv::statInPort(int period)
{
pStatInPort_ = period;
// Convertion s->Period
- int p = s2period(period);
+ //int p = s2period(period);
// Envoie sur l'AVR
- proto_.send('P', "b", p);
+ proto_.send('P', "b", period);
}
void Asserv::statSharp(int period)
{
pSharp_ = period;
// Conversion s->period
- int p = s2period(period);
+ //int p = s2period(period);
// Envoie sur l'AVR
- proto_.send('H', "b", p);
+ proto_.send('H', "b", period);
}
/// Change les paramètres
@@ -309,7 +309,7 @@ void Asserv::setDSample (int dSample)
void Asserv::setAccel(int accel)
{
accel_ = accel_;
- log_ ("setAccel") << "avConv" << accel;
+ //log_ ("setAccel") << "avConv" << accel;
// envoie vers l'AVR
proto_.send('p',"bb", 'a', accel);
}
@@ -453,7 +453,7 @@ void Asserv::loadConfig(const Config & config)
pMotor_ = 0;
pPwm_ = 0;
pTiming_ = 0;
- pStatInPort_ = 0;
+ pStatInPort_ = 32;
pSharp_ = 0;
}