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-rw-r--r--2005/i/robert/src/asserv/asserv.cc16
-rw-r--r--2005/i/robert/src/asserv/asserv.hh1
2 files changed, 15 insertions, 2 deletions
diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc
index 358a3fc..c1be051 100644
--- a/2005/i/robert/src/asserv/asserv.cc
+++ b/2005/i/robert/src/asserv/asserv.cc
@@ -52,6 +52,12 @@ void Asserv::reset(void)
setKi(ki_);
setKd(kd_);
setMaxSpeed(maxSpeed_);
+ statCounter(pCounter_);
+ statPosition(pPosition_);
+ statMotor(pMotor_);
+ statPwm(pPwm_);
+ statTiming(pTiming_);
+ statInPort(pStatInPort_);
}
/// Essaie de purger la liste d'mission et indique si elle est vide.
@@ -344,7 +350,15 @@ void Asserv::loadConfig(const Config & config)
kd_ = config.get<double>("asserv.kd");
speedIntMax_ = config.get<int>("asserv.speedIntMax");
maxSpeed_ = config.get<double>("asserv.maxSpeed");
- pwmMax_ = config.get<int>("asserv.pwmMax");
+ mmPpas_ = config.get<double>("asserv.mmPpas");
+ sPperiod_ = config.get<double>("asserv.sPperiod");
+ pwmMax = config.get<double>("asserv.pwmMax");
+ pCounter_ = 0;
+ pPosition_ = 0;
+ pMotor_ = 0;
+ pPwm_ = 0;
+ pTiming_ = 0;
+ pStatInPort_ = 0;
}
int Asserv::mm2pasD(double dist)
diff --git a/2005/i/robert/src/asserv/asserv.hh b/2005/i/robert/src/asserv/asserv.hh
index 34e6f06..4a19493 100644
--- a/2005/i/robert/src/asserv/asserv.hh
+++ b/2005/i/robert/src/asserv/asserv.hh
@@ -68,7 +68,6 @@ class Asserv : public NonCopyable, public Proto::Receiver
double kd_;
int16_t speedIntMax_;
double maxSpeed_;
- double maxPwn_;
// Stat
double pCounter_;
double pPosition_;