summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
-rw-r--r--2004/i/nono/doc/Doxyfile938
-rw-r--r--2004/i/nono/src/motor/Makefile.defs8
-rw-r--r--2004/i/nono/src/motor/asserv.cc74
-rw-r--r--2004/i/nono/src/motor/asserv.h48
-rw-r--r--2004/i/nono/src/motor/motor.cc23
-rw-r--r--2004/i/nono/src/motor/motor.h48
-rw-r--r--2004/i/nono/src/utils/Makefile.defs2
-rw-r--r--2004/i/nono/src/utils/hexa.cc64
-rw-r--r--2004/i/nono/src/utils/hexa.h34
9 files changed, 1147 insertions, 92 deletions
diff --git a/2004/i/nono/doc/Doxyfile b/2004/i/nono/doc/Doxyfile
new file mode 100644
index 0000000..dbb98bd
--- /dev/null
+++ b/2004/i/nono/doc/Doxyfile
@@ -0,0 +1,938 @@
+# Doxyfile 1.2.15
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project
+#
+# All text after a hash (#) is considered a comment and will be ignored
+# The format is:
+# TAG = value [value, ...]
+# For lists items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (" ")
+
+#---------------------------------------------------------------------------
+# General configuration options
+#---------------------------------------------------------------------------
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
+# by quotes) that should identify the project.
+
+PROJECT_NAME = nono
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number.
+# This could be handy for archiving the generated documentation or
+# if some version control system is used.
+
+PROJECT_NUMBER =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
+# base path where the generated documentation will be put.
+# If a relative path is entered, it will be relative to the location
+# where doxygen was started. If left blank the current directory will be used.
+
+OUTPUT_DIRECTORY =
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# The default language is English, other supported languages are:
+# Brazilian, Chinese, Croatian, Czech, Danish, Dutch, Finnish, French,
+# German, Greek, Hungarian, Italian, Japanese, Korean, Norwegian, Polish,
+# Portuguese, Romanian, Russian, Slovak, Slovene, Spanish and Swedish.
+
+OUTPUT_LANGUAGE = French
+
+# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
+# documentation are documented, even if no documentation was available.
+# Private class members and static file members will be hidden unless
+# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
+
+EXTRACT_ALL = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
+# will be included in the documentation.
+
+EXTRACT_PRIVATE = YES
+
+# If the EXTRACT_STATIC tag is set to YES all static members of a file
+# will be included in the documentation.
+
+EXTRACT_STATIC = YES
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
+# defined locally in source files will be included in the documentation.
+# If set to NO only classes defined in header files are included.
+
+EXTRACT_LOCAL_CLASSES = YES
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
+# undocumented members of documented classes, files or namespaces.
+# If set to NO (the default) these members will be included in the
+# various overviews, but no documentation section is generated.
+# This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_MEMBERS = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy.
+# If set to NO (the default) these class will be included in the various
+# overviews. This option has no effect if EXTRACT_ALL is enabled.
+
+HIDE_UNDOC_CLASSES = NO
+
+# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
+# include brief member descriptions after the members that are listed in
+# the file and class documentation (similar to JavaDoc).
+# Set to NO to disable this.
+
+BRIEF_MEMBER_DESC = YES
+
+# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
+# the brief description of a member or function before the detailed description.
+# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+
+REPEAT_BRIEF = YES
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# Doxygen will generate a detailed section even if there is only a brief
+# description.
+
+ALWAYS_DETAILED_SEC = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all inherited
+# members of a class in the documentation of that class as if those members were
+# ordinary class members. Constructors, destructors and assignment operators of
+# the base classes will not be shown.
+
+INLINE_INHERITED_MEMB = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
+# path before files name in the file list and in the header files. If set
+# to NO the shortest path that makes the file name unique will be used.
+
+FULL_PATH_NAMES = NO
+
+# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
+# can be used to strip a user defined part of the path. Stripping is
+# only done if one of the specified strings matches the left-hand part of
+# the path. It is allowed to use relative paths in the argument list.
+
+STRIP_FROM_PATH =
+
+# The INTERNAL_DOCS tag determines if documentation
+# that is typed after a \internal command is included. If the tag is set
+# to NO (the default) then the documentation will be excluded.
+# Set it to YES to include the internal documentation.
+
+INTERNAL_DOCS = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
+# doxygen to hide any special comment blocks from generated source code
+# fragments. Normal C and C++ comments will always remain visible.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
+# file names in lower case letters. If set to YES upper case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# users are adviced to set this option to NO.
+
+CASE_SENSE_NAMES = YES
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
+# (but less readable) file names. This can be useful is your file systems
+# doesn't support long names like on DOS, Mac, or CD-ROM.
+
+SHORT_NAMES = NO
+
+# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
+# will show members with their full class and namespace scopes in the
+# documentation. If set to YES the scope will be hidden.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
+# will generate a verbatim copy of the header file for each class for
+# which an include is specified. Set to NO to disable this.
+
+VERBATIM_HEADERS = YES
+
+# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
+# will put list of the files that are included by a file in the documentation
+# of that file.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
+# will interpret the first line (until the first dot) of a JavaDoc-style
+# comment as the brief description. If set to NO, the JavaDoc
+# comments will behave just like the Qt-style comments (thus requiring an
+# explict @brief command for a brief description.
+
+JAVADOC_AUTOBRIEF = YES
+
+# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
+# member inherits the documentation from any documented member that it
+# reimplements.
+
+INHERIT_DOCS = YES
+
+# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
+# is inserted in the documentation for inline members.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
+# will sort the (detailed) documentation of file and class members
+# alphabetically by member name. If set to NO the members will appear in
+# declaration order.
+
+SORT_MEMBER_DOCS = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES, then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+
+DISTRIBUTE_GROUP_DOC = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab.
+# Doxygen uses this value to replace tabs by spaces in code fragments.
+
+TAB_SIZE = 8
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or
+# disable (NO) the todo list. This list is created by putting \todo
+# commands in the documentation.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or
+# disable (NO) the test list. This list is created by putting \test
+# commands in the documentation.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or
+# disable (NO) the bug list. This list is created by putting \bug
+# commands in the documentation.
+
+GENERATE_BUGLIST = YES
+
+# This tag can be used to specify a number of aliases that acts
+# as commands in the documentation. An alias has the form "name=value".
+# For example adding "sideeffect=\par Side Effects:\n" will allow you to
+# put the command \sideeffect (or @sideeffect) in the documentation, which
+# will result in a user defined paragraph with heading "Side Effects:".
+# You can put \n's in the value part of an alias to insert newlines.
+
+ALIASES =
+
+# The ENABLED_SECTIONS tag can be used to enable conditional
+# documentation sections, marked by \if sectionname ... \endif.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
+# the initial value of a variable or define consist of for it to appear in
+# the documentation. If the initializer consists of more lines than specified
+# here it will be hidden. Use a value of 0 to hide initializers completely.
+# The appearance of the initializer of individual variables and defines in the
+# documentation can be controlled using \showinitializer or \hideinitializer
+# command in the documentation regardless of this setting.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C.
+# For instance some of the names that are used will be different. The list
+# of all members will be omitted, etc.
+
+OPTIMIZE_OUTPUT_FOR_C = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources
+# only. Doxygen will then generate output that is more tailored for Java.
+# For instance namespaces will be presented as packages, qualified scopes
+# will look different, etc.
+
+OPTIMIZE_OUTPUT_JAVA = NO
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
+# at the bottom of the documentation of classes and structs. If set to YES the
+# list will mention the files that were used to generate the documentation.
+
+SHOW_USED_FILES = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated
+# by doxygen. Possible values are YES and NO. If left blank NO is used.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated by doxygen. Possible values are YES and NO. If left blank
+# NO is used.
+
+WARNINGS = YES
+
+# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
+# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
+# automatically be disabled.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# The WARN_FORMAT tag determines the format of the warning messages that
+# doxygen can produce. The string should contain the $file, $line, and $text
+# tags, which will be replaced by the file and line number from which the
+# warning originated and the warning text.
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning
+# and error messages should be written. If left blank the output is written
+# to stderr.
+
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag can be used to specify the files and/or directories that contain
+# documented source files. You may enter file names like "myfile.cpp" or
+# directories like "/usr/src/myproject". Separate the files or directories
+# with spaces.
+
+INPUT = ../src
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank the following patterns are tested:
+# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp
+# *.h++ *.idl *.odl
+
+FILE_PATTERNS =
+
+# The RECURSIVE tag can be used to turn specify whether or not subdirectories
+# should be searched for input files as well. Possible values are YES and NO.
+# If left blank NO is used.
+
+RECURSIVE = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+
+EXCLUDE =
+
+# The EXCLUDE_SYMLINKS tag can be used select whether or not files or directories
+# that are symbolic links (a Unix filesystem feature) are excluded from the input.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+
+EXCLUDE_PATTERNS =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or
+# directories that contain example code fragments that are included (see
+# the \include command).
+
+EXAMPLE_PATH =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
+# and *.h) to filter out the source-files in the directories. If left
+# blank all files are included.
+
+EXAMPLE_PATTERNS =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude
+# commands irrespective of the value of the RECURSIVE tag.
+# Possible values are YES and NO. If left blank NO is used.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or
+# directories that contain image that are included in the documentation (see
+# the \image command).
+
+IMAGE_PATH =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command <filter> <input-file>, where <filter>
+# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
+# input file. Doxygen will then use the output that the filter program writes
+# to standard output.
+
+INPUT_FILTER =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will be used to filter the input files when producing source
+# files to browse.
+
+FILTER_SOURCE_FILES = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will
+# be generated. Documented entities will be cross-referenced with these sources.
+
+SOURCE_BROWSER = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body
+# of functions and classes directly in the documentation.
+
+INLINE_SOURCES = NO
+
+# If the REFERENCED_BY_RELATION tag is set to YES (the default)
+# then for each documented function all documented
+# functions referencing it will be listed.
+
+REFERENCED_BY_RELATION = YES
+
+# If the REFERENCES_RELATION tag is set to YES (the default)
+# then for each documented function all documented entities
+# called/used by that function will be listed.
+
+REFERENCES_RELATION = YES
+
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
+# of all compounds will be generated. Enable this if the project
+# contains a lot of classes, structs, unions or interfaces.
+
+ALPHABETICAL_INDEX = NO
+
+# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
+# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
+# in which this list will be split (can be a number in the range [1..20])
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all
+# classes will be put under the same header in the alphabetical index.
+# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
+# should be ignored while generating the index headers.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
+# generate HTML output.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `html' will be used as the default path.
+
+HTML_OUTPUT = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
+# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
+# doxygen will generate files with .html extension.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a personal HTML header for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard header.
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a personal HTML footer for
+# each generated HTML page. If it is left blank doxygen will generate a
+# standard footer.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user defined cascading
+# style sheet that is used by each HTML page. It can be used to
+# fine-tune the look of the HTML output. If the tag is left blank doxygen
+# will generate a default style sheet
+
+HTML_STYLESHEET =
+
+# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
+# files or namespaces will be aligned in HTML using tables. If set to
+# NO a bullet list will be used.
+
+HTML_ALIGN_MEMBERS = YES
+
+# If the GENERATE_HTMLHELP tag is set to YES, additional index files
+# will be generated that can be used as input for tools like the
+# Microsoft HTML help workshop to generate a compressed HTML help file (.chm)
+# of the generated HTML documentation.
+
+GENERATE_HTMLHELP = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
+# controls if a separate .chi index file is generated (YES) or that
+# it should be included in the master .chm file (NO).
+
+GENERATE_CHI = NO
+
+# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
+# controls whether a binary table of contents is generated (YES) or a
+# normal table of contents (NO) in the .chm file.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members
+# to the contents of the Html help documentation and to the tree view.
+
+TOC_EXPAND = NO
+
+# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
+# top of each HTML page. The value NO (the default) enables the index and
+# the value YES disables it.
+
+DISABLE_INDEX = NO
+
+# This tag can be used to set the number of enum values (range [1..20])
+# that doxygen will group on one line in the generated HTML documentation.
+
+ENUM_VALUES_PER_LINE = 4
+
+# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be
+# generated containing a tree-like index structure (just like the one that
+# is generated for HTML Help). For this to work a browser that supports
+# JavaScript and frames is required (for instance Mozilla, Netscape 4.0+,
+# or Internet explorer 4.0+). Note that for large projects the tree generation
+# can take a very long time. In such cases it is better to disable this feature.
+# Windows users are probably better off using the HTML help feature.
+
+GENERATE_TREEVIEW = NO
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
+# used to set the initial width (in pixels) of the frame in which the tree
+# is shown.
+
+TREEVIEW_WIDTH = 250
+
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
+# generate Latex output.
+
+GENERATE_LATEX = NO
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `latex' will be used as the default path.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be invoked. If left blank `latex' will be used as the default command name.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
+# generate index for LaTeX. If left blank `makeindex' will be used as the
+# default command name.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
+# LaTeX documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_LATEX = YES
+
+# The PAPER_TYPE tag can be used to set the paper type that is used
+# by the printer. Possible values are: a4, a4wide, letter, legal and
+# executive. If left blank a4wide will be used.
+
+PAPER_TYPE = a4wide
+
+# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
+# packages that should be included in the LaTeX output.
+
+EXTRA_PACKAGES =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
+# the generated latex document. The header should contain everything until
+# the first chapter. If it is left blank doxygen will generate a
+# standard header. Notice: only use this tag if you know what you are doing!
+
+LATEX_HEADER =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
+# is prepared for conversion to pdf (using ps2pdf). The pdf file will
+# contain links (just like the HTML output) instead of page references
+# This makes the output suitable for online browsing using a pdf viewer.
+
+PDF_HYPERLINKS = NO
+
+# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
+# plain latex in the generated Makefile. Set this option to YES to get a
+# higher quality PDF documentation.
+
+USE_PDFLATEX = NO
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
+# command to the generated LaTeX files. This will instruct LaTeX to keep
+# running if errors occur, instead of asking the user for help.
+# This option is also used when generating formulas in HTML.
+
+LATEX_BATCHMODE = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
+# The RTF output is optimised for Word 97 and may not look very pretty with
+# other RTF readers or editors.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `rtf' will be used as the default path.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
+# RTF documents. This may be useful for small projects and may help to
+# save some trees in general.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
+# will contain hyperlink fields. The RTF file will
+# contain links (just like the HTML output) instead of page references.
+# This makes the output suitable for online browsing using WORD or other
+# programs which support those fields.
+# Note: wordpad (write) and others do not support links.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# config file, i.e. a series of assigments. You only have to provide
+# replacements, missing definitions are set to their default value.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an rtf document.
+# Syntax is similar to doxygen's config file.
+
+RTF_EXTENSIONS_FILE =
+
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
+# generate man pages
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be
+# put in front of it. If left blank `man' will be used as the default path.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to
+# the generated man pages (default is the subroutine's section .3)
+
+MAN_EXTENSION = .3
+
+# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
+# then it will generate one additional man file for each entity
+# documented in the real man page(s). These additional files
+# only source the real man page, but without them the man command
+# would be unable to find the correct page. The default is NO.
+
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES Doxygen will
+# generate an XML file that captures the structure of
+# the code including all documentation. Note that this
+# feature is still experimental and incomplete at the
+# moment.
+
+GENERATE_XML = NO
+
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
+# generate an AutoGen Definitions (see autogen.sf.net) file
+# that captures the structure of the code including all
+# documentation. Note that this feature is still experimental
+# and incomplete at the moment.
+
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
+# evaluate all C-preprocessor directives found in the sources and include
+# files.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
+# names in the source code. If set to NO (the default) only conditional
+# compilation will be performed. Macro expansion can be done in a controlled
+# way by setting EXPAND_ONLY_PREDEF to YES.
+
+MACRO_EXPANSION = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
+# then the macro expansion is limited to the macros specified with the
+# PREDEFINED and EXPAND_AS_PREDEFINED tags.
+
+EXPAND_ONLY_PREDEF = NO
+
+# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
+# in the INCLUDE_PATH (see below) will be search if a #include is found.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by
+# the preprocessor.
+
+INCLUDE_PATH =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will
+# be used.
+
+INCLUDE_FILE_PATTERNS =
+
+# The PREDEFINED tag can be used to specify one or more macro names that
+# are defined before the preprocessor is started (similar to the -D option of
+# gcc). The argument of the tag is a list of macros of the form: name
+# or name=definition (no spaces). If the definition and the = are
+# omitted =1 is assumed.
+
+PREDEFINED =
+
+# If the MACRO_EXPANSION and EXPAND_PREDEF_ONLY tags are set to YES then
+# this tag can be used to specify a list of macro names that should be expanded.
+# The macro definition that is found in the sources will be used.
+# Use the PREDEFINED tag if you want to use a different macro definition.
+
+EXPAND_AS_DEFINED =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
+# doxygen's preprocessor will remove all function-like macros that are alone
+# on a line and do not end with a semicolon. Such function macros are typically
+# used for boiler-plate code, and will confuse the parser if not removed.
+
+SKIP_FUNCTION_MACROS = YES
+
+#---------------------------------------------------------------------------
+# Configuration::addtions related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tagfiles.
+
+TAGFILES =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create
+# a tag file that is based on the input files it reads.
+
+GENERATE_TAGFILE =
+
+# If the ALLEXTERNALS tag is set to YES all external classes will be listed
+# in the class index. If set to NO only the inherited external classes
+# will be listed.
+
+ALLEXTERNALS = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
+# in the modules index. If set to NO, only the current project's groups will
+# be listed.
+
+EXTERNAL_GROUPS = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of `which perl').
+
+PERL_PATH = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
+# generate a inheritance diagram (in Html, RTF and LaTeX) for classes with base or
+# super classes. Setting the tag to NO turns the diagrams off. Note that this
+# option is superceded by the HAVE_DOT option below. This is only a fallback. It is
+# recommended to install and use dot, since it yield more powerful graphs.
+
+CLASS_DIAGRAMS = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz, a graph visualization
+# toolkit from AT&T and Lucent Bell Labs. The other options in this section
+# have no effect if this option is set to NO (the default)
+
+HAVE_DOT = YES
+
+# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect inheritance relations. Setting this tag to YES will force the
+# the CLASS_DIAGRAMS tag to NO.
+
+CLASS_GRAPH = YES
+
+# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
+# will generate a graph for each documented class showing the direct and
+# indirect implementation dependencies (inheritance, containment, and
+# class references variables) of the class with other documented classes.
+
+COLLABORATION_GRAPH = YES
+
+# If set to YES, the inheritance and collaboration graphs will show the
+# relations between templates and their instances.
+
+TEMPLATE_RELATIONS = YES
+
+# If set to YES, the inheritance and collaboration graphs will hide
+# inheritance and usage relations if the target is undocumented
+# or is not a class.
+
+HIDE_UNDOC_RELATIONS = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
+# tags are set to YES then doxygen will generate a graph for each documented
+# file showing the direct and indirect include dependencies of the file with
+# other documented files.
+
+INCLUDE_GRAPH = YES
+
+# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
+# HAVE_DOT tags are set to YES then doxygen will generate a graph for each
+# documented header file showing the documented files that directly or
+# indirectly include this file.
+
+INCLUDED_BY_GRAPH = YES
+
+# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
+# will graphical hierarchy of all classes instead of a textual one.
+
+GRAPHICAL_HIERARCHY = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot. Possible values are png, jpg, or gif
+# If left blank png will be used.
+
+DOT_IMAGE_FORMAT = png
+
+# The tag DOT_PATH can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found on the path.
+
+DOT_PATH =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the
+# \dotfile command).
+
+DOTFILE_DIRS =
+
+# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width
+# (in pixels) of the graphs generated by dot. If a graph becomes larger than
+# this value, doxygen will try to truncate the graph, so that it fits within
+# the specified constraint. Beware that most browsers cannot cope with very
+# large images.
+
+MAX_DOT_GRAPH_WIDTH = 1024
+
+# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height
+# (in pixels) of the graphs generated by dot. If a graph becomes larger than
+# this value, doxygen will try to truncate the graph, so that it fits within
+# the specified constraint. Beware that most browsers cannot cope with very
+# large images.
+
+MAX_DOT_GRAPH_HEIGHT = 1024
+
+# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
+# generate a legend page explaining the meaning of the various boxes and
+# arrows in the dot generated graphs.
+
+GENERATE_LEGEND = YES
+
+# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
+# remove the intermedate dot files that are used to generate
+# the various graphs.
+
+DOT_CLEANUP = YES
+
+#---------------------------------------------------------------------------
+# Configuration::addtions related to the search engine
+#---------------------------------------------------------------------------
+
+# The SEARCHENGINE tag specifies whether or not a search engine should be
+# used. If set to NO the values of all tags below this one will be ignored.
+
+SEARCHENGINE = NO
+
+# The CGI_NAME tag should be the name of the CGI script that
+# starts the search engine (doxysearch) with the correct parameters.
+# A script with this name will be generated by doxygen.
+
+CGI_NAME = search.cgi
+
+# The CGI_URL tag should be the absolute URL to the directory where the
+# cgi binaries are located. See the documentation of your http daemon for
+# details.
+
+CGI_URL =
+
+# The DOC_URL tag should be the absolute URL to the directory where the
+# documentation is located. If left blank the absolute path to the
+# documentation, with file:// prepended to it, will be used.
+
+DOC_URL =
+
+# The DOC_ABSPATH tag should be the absolute path to the directory where the
+# documentation is located. If left blank the directory on the local machine
+# will be used.
+
+DOC_ABSPATH =
+
+# The BIN_ABSPATH tag must point to the directory where the doxysearch binary
+# is installed.
+
+BIN_ABSPATH = /usr/local/bin/
+
+# The EXT_DOC_PATHS tag can be used to specify one or more paths to
+# documentation generated for other projects. This allows doxysearch to search
+# the documentation for these projects as well.
+
+EXT_DOC_PATHS =
diff --git a/2004/i/nono/src/motor/Makefile.defs b/2004/i/nono/src/motor/Makefile.defs
index 5fda0ed..7e9055a 100644
--- a/2004/i/nono/src/motor/Makefile.defs
+++ b/2004/i/nono/src/motor/Makefile.defs
@@ -1,9 +1,11 @@
TARGETS += test_motor test_asserv test_tracker
LIBS += motor.a
-test_motor_SOURCES = test_motor.cc motor.a serial.a erreur.a config.a date.a
-test_asserv_SOURCES = test_asserv.cc motor.a serial.a erreur.a config.a date.a
+test_motor_SOURCES = test_motor.cc motor.a serial.a erreur.a config.a date.a \
+ utils.a
+test_asserv_SOURCES = test_asserv.cc motor.a serial.a erreur.a config.a \
+ date.a utils.a
test_tracker_SOURCES = test_tracker.cc motor.a serial.a erreur.a config.a \
- date.a
+ date.a utils.a
motor_a_SOURCES = asserv.cc tracker.cc motor.cc movement_basic.cc \
movement_goto.cc
diff --git a/2004/i/nono/src/motor/asserv.cc b/2004/i/nono/src/motor/asserv.cc
index 40c5944..bb259c3 100644
--- a/2004/i/nono/src/motor/asserv.cc
+++ b/2004/i/nono/src/motor/asserv.cc
@@ -25,15 +25,13 @@
#include "asserv.h"
#include "config/config.h"
#include "date/date.h"
+#include "utils/hexa.h"
#include <iostream>
-// Table de conversion en hexa.
-const char *Asserv::hexaTbl_ = "0123456789abcdef";
-
-// Constructeur.
+/// Constructeur.
Asserv::Asserv (AsservTracker &asservTracker)
- : accel_ (-1), kp_ (-1), ki_ (-1), kd_ (-1),
+ : ttyspeed_ (0), accel_ (-1), kp_ (-1), ki_ (-1), kd_ (-1),
statMotor_ (false), counter_ (false),
inBufSize_ (64), inBufPos_ (0), inBuf_ (0),
firstCounter_ (true),
@@ -50,6 +48,7 @@ Asserv::Asserv (AsservTracker &asservTracker)
rc.get ("ki", ki_) ||
rc.get ("kd", kd_) ||
rc.get ("tty", ttyname_) ||
+ rc.get ("ttyspeed", ttyspeed_) ||
rc.get ("stats", statMotor_) ||
rc.get ("counter", counter_) ||
rc.get ("buffer", inBufSize_)
@@ -62,7 +61,7 @@ Asserv::Asserv (AsservTracker &asservTracker)
inBuf_ = new char[inBufSize_];
}
-// Destructeur.
+/// Destructeur.
Asserv::~Asserv (void)
{
// Envois le signal de reset.
@@ -71,7 +70,7 @@ Asserv::~Asserv (void)
delete inBuf_;
}
-// Reset la carte et envois les paramètres.
+/// Reset la carte et envois les paramètres.
void
Asserv::reset (void)
{
@@ -96,28 +95,28 @@ Asserv::reset (void)
setCounter (counter_);
}
-// Active l'asservissement.
+/// Active l'asservissement.
void
Asserv::go (bool fl)
{
send ('g', fl);
}
-// Stop !
+/// Stop !
void
Asserv::stop (void)
{
send ('s');
}
-// Réglage de la vitesse.
+/// Réglage de la vitesse.
void
Asserv::speed (int l, int r)
{
send ('v', l, r);
}
-// Teste si l'émission est terminée.
+/// Teste si l'émission est terminée.
bool
Asserv::ok (void)
{
@@ -125,14 +124,14 @@ Asserv::ok (void)
return sendQueue_.empty ();
}
-// Attend que toute les émissions soit terminées.
+/// Attend que toute les émissions soit terminées.
void
Asserv::waitOk (void)
{
while (!ok ()) Date::wait (1);
}
-// Lit et traite les messages de la cartes.
+/// Lit et traite les messages de la cartes.
void
Asserv::read (void)
{
@@ -154,7 +153,7 @@ Asserv::read (void)
}
}
-// Change les paramètres de la carte.
+/// Change les paramètres de la carte.
void
Asserv::setAccel (int accel)
{
@@ -198,7 +197,7 @@ Asserv::setCounter (bool fl = true)
counter_ = fl;
}
-// Envoie un message.
+/// Envoie un message.
void
Asserv::send (char com)
{
@@ -231,8 +230,8 @@ Asserv::send (char com, int a1)
std::string s;
s += '!';
s += com;
- s += hexaTbl_[(a1 >> 4) & 0x0f];
- s += hexaTbl_[a1 & 0x0f];
+ s += hex2digit ((a1 >> 4) & 0x0f);
+ s += hex2digit (a1 & 0x0f);
s += '\r';
sendQueue_.push (s);
if (wasEmpty) sendLast ();
@@ -245,16 +244,16 @@ Asserv::send (char com, int a1, int a2)
std::string s;
s += '!';
s += com;
- s += hexaTbl_[(a1 >> 4) & 0x0f];
- s += hexaTbl_[a1 & 0x0f];
- s += hexaTbl_[(a2 >> 4) & 0x0f];
- s += hexaTbl_[a2 & 0x0f];
+ s += hex2digit ((a1 >> 4) & 0x0f);
+ s += hex2digit (a1 & 0x0f);
+ s += hex2digit ((a2 >> 4) & 0x0f);
+ s += hex2digit (a2 & 0x0f);
s += '\r';
sendQueue_.push (s);
if (wasEmpty) sendLast ();
}
-// Renvois le dernier message.
+/// Renvois le dernier message.
void
Asserv::sendLast (void)
{
@@ -264,7 +263,7 @@ std::cout << "send " << s << std::endl;
serial_.write (s.data (), s.size ());
}
-// Traite un message.
+/// Traite un message.
void
Asserv::handleMessage (void)
{
@@ -287,7 +286,7 @@ inBuf_[inBufPos_] = 0;
break;
case 'm':
// Recois des nouvelles stats.
- // handleStatMotor ();
+ handleStatMotor ();
break;
case 'c':
// Recois une nouvelle valeur pour les compteurs.
@@ -299,7 +298,23 @@ inBuf_[inBufPos_] = 0;
inBufPos_ = 0;
}
-// Traite un message du compteur.
+/// Traite un message de stats.
+void
+Asserv::handleStatMotor (void)
+{
+ if (inBufPos_ != 2 + 1 + 2 + 1 + 4 + 1 + 4)
+ {
+std::cout << "stat motor error" << std::endl;
+ // Mauvaise transmission.
+ return;
+ }
+ char side = inBuf_[2];
+ //int vacc = getSignedChar (inBuf_ + 2 + 1);
+ int e = getSignedShort (inBuf_ + 2 + 1 + 2 + 1);
+ int pwm = getSignedShort (inBuf_ + 2 + 1 + 2 + 1 + 4 + 1);
+}
+
+/// Traite un message du compteur.
void
Asserv::handleCounter (void)
{
@@ -337,7 +352,7 @@ std::cout << "counter error" << std::endl;
countRight_ = r;
}
-// Décode un mot signé (2 octets).
+/// Décode un mot signé (2 octets).
int
Asserv::getSignedShort (const char *s) const
{
@@ -346,10 +361,3 @@ Asserv::getSignedShort (const char *s) const
| hex2digit (s[2]) << 4
| hex2digit (s[3]));
}
-
-// Décode un chiffre hexa.
-int
-Asserv::hex2digit (char c) const
-{
- return (c >= '0' && c <= '9') ? c - '0' : c - 'a' + 10;
-}
diff --git a/2004/i/nono/src/motor/asserv.h b/2004/i/nono/src/motor/asserv.h
index d6f1da1..2736c78 100644
--- a/2004/i/nono/src/motor/asserv.h
+++ b/2004/i/nono/src/motor/asserv.h
@@ -29,27 +29,27 @@
#include <string>
#include <queue>
-// Class dont on doit dériver pour pouvoir recevoir les informations de la
-// carte d'asservissement.
+/// Classe dont on doit hériter pour pouvoir recevoir les informations de la
+/// carte d'asservissement.
class AsservTracker
{
public:
- // Appelée lors d'une mise à jour des compteurs.
+ /// Appelée lors d'une mise à jour des compteurs.
virtual void updateCounter (int l, int r) { }
};
+/// Classe de dialogue avec la carte d'asservissement.
class Asserv
{
// Ligne série.
Serial serial_;
std::string ttyname_;
+ int ttyspeed_;
// Paramètres.
int accel_, kp_, ki_, kd_;
bool statMotor_, counter_;
// File d'emmission.
std::queue<std::string> sendQueue_;
- // Table de conversion en hexa.
- static const char *hexaTbl_;
// Buffer de reception.
int inBufSize_, inBufPos_;
char *inBuf_;
@@ -59,25 +59,26 @@ class Asserv
// Objet interessé par les stats.
AsservTracker &asservTracker_;
public:
- // Constructeur.
+ /// Constructeur.
Asserv (AsservTracker &asservTracker);
- // Destructeur.
+ /// Destructeur.
~Asserv (void);
- // Reset la carte et envois les paramètres.
+ /// Reset la carte et envois les paramètres.
void reset (void);
- // Active l'asservissement.
+ /// Active l'asservissement.
void go (bool fl = true);
- // Stop !
+ /// Stop !
void stop (void);
- // Réglage de la vitesse.
+ /// Réglage de la vitesse.
void speed (int l, int r);
- // Teste si l'émission est terminée.
+ /// Teste si l'émission est terminée.
bool ok (void);
- // Attend que toute les émissions soit terminées.
+ /// Attend que toute les émissions soit terminées.
void waitOk (void);
- // Lit et traite les messages de la cartes.
+ /// Lit et traite les messages de la cartes.
void read (void);
- // Change les paramètres de la carte.
+ /// @{
+ /// Change les paramètres de la carte.
void setAccel (int accel);
int getAccel (void) { return accel_; }
void setKp (int kp);
@@ -85,22 +86,25 @@ class Asserv
void setKd (int kd);
void setStatMotor (bool fl = true);
void setCounter (bool fl = true);
+ /// @}
protected:
- // Envoie un message.
+ /// @{
+ /// Envoie un message.
void send (char com);
void send (char com, bool fl);
void send (char com, int a1);
void send (char com, int a1, int a2);
- // Renvois le dernier message.
+ /// @}
+ /// Renvois le dernier message.
void sendLast (void);
- // Traite un message.
+ /// Traite un message.
void handleMessage (void);
- // Traite un message du compteur.
+ /// Traite un message de stats.
+ void handleStatMotor (void);
+ /// Traite un message du compteur.
void handleCounter (void);
- // Décode un mot signé (2 octets).
+ /// Décode un mot signé (2 octets).
int getSignedShort (const char *s) const;
- // Décode un chiffre hexa.
- int hex2digit (char c) const;
};
#endif // asserv_h
diff --git a/2004/i/nono/src/motor/motor.cc b/2004/i/nono/src/motor/motor.cc
index d150688..9fc7c6c 100644
--- a/2004/i/nono/src/motor/motor.cc
+++ b/2004/i/nono/src/motor/motor.cc
@@ -31,7 +31,7 @@
// Pointeur vers l'instance unique.
Motor *Motor::instance_ = 0;
-// Constructeur.
+/// Constructeur.
Motor::Motor (void)
: asserv_ (*this),
s_ (1.0), vs_ (1.0), as_ (1.0),
@@ -55,14 +55,14 @@ Motor::Motor (void)
asserv_.reset ();
}
-// Destructeur.
+/// Destructeur.
Motor::~Motor (void)
{
instance_ = 0;
delete movement_;
}
-// Appelée lors d'une mise à jour des compteurs.
+/// Appelée lors d'une mise à jour des compteurs.
void
Motor::updateCounter (int l, int r)
{
@@ -78,7 +78,7 @@ Motor::updateCounter (int l, int r)
}
}
-// Choisi le mouvement en cours.
+/// Choisi le mouvement en cours.
void
Motor::setMovement (Movement *m)
{
@@ -87,7 +87,7 @@ Motor::setMovement (Movement *m)
m->init (tracker_, asserv_, *this);
}
-// Teste si les mouvements sont terminés.
+/// Teste si les mouvements sont terminés.
bool
Motor::end (void)
{
@@ -95,7 +95,7 @@ Motor::end (void)
return !movement_;
}
-// Attend la fin de tout les mouvements.
+/// Attend la fin de tout les mouvements.
void
Motor::waitEnd (void)
{
@@ -104,7 +104,7 @@ Motor::waitEnd (void)
} while (!end ());
}
-// Teste si les moteurs sont arrétés.
+/// Teste si les moteurs sont arrétés.
bool
Motor::stopped (void)
{
@@ -112,7 +112,7 @@ Motor::stopped (void)
return tracker_.stopped ();
}
-// Attend que les moteurs soient arrétés.
+/// Attend que les moteurs soient arrétés.
void
Motor::waitStopped (void)
{
@@ -121,7 +121,7 @@ Motor::waitStopped (void)
} while (!stopped ());
}
-// Paramètre la vitesse des moteurs.
+/// Paramètre la vitesse des moteurs.
void
Motor::speed (double l, double r)
{
@@ -162,14 +162,15 @@ std::cout << "motor speed " << l << ' ' << r << ' ' << vL << ' ' << vR << std::e
asserv_.speed (vL, vR);
}
-// Va vers un point, renvois faux si atteind.
+/// Va vers un point, renvois faux si atteind.
bool
Motor::goTo (double x, double y, double eps/*5.0*/)
{
return false;
}
-// Va vers un point, en formant un arc de cercle, renvois faux si atteind.
+/// Va vers un point, en formant un arc de cercle, renvois faux si atteind.
+/// \deprecated Utiliser goTo().
bool
Motor::goToArc (double x, double y, double eps/*5.0*/)
{
diff --git a/2004/i/nono/src/motor/motor.h b/2004/i/nono/src/motor/motor.h
index ddc32ee..7673534 100644
--- a/2004/i/nono/src/motor/motor.h
+++ b/2004/i/nono/src/motor/motor.h
@@ -28,52 +28,56 @@
#include "tracker.h"
#include "movement.h"
+/// Gestion des moteurs principaux du robot. Cette classe gére les
+/// déplacements simples (enfin pas si simple que ça) comme aller vers un
+/// point, atteindre un angle...
class Motor : public AsservTracker
{
- // Object d'asservissement.
+ /// Object d'asservissement.
Asserv asserv_;
- // Suiveur de position.
+ /// Suiveur de position.
Tracker tracker_;
- // Pointeur vers l'instance unique.
+ /// Pointeur vers l'instance unique.
static Motor *instance_;
- // Echelles (mm/unit, mm/s.unit, mm/s^2.unit).
+ /// Echelles (mm/unit, mm/s.unit, mm/s^2.unit).
double s_, vs_, as_;
- // Mouvement en cours.
+ /// Mouvement en cours.
Movement *movement_;
- // Vitesses maximale et minimale (unit).
+ /// Vitesses maximale et minimale (unit).
int maxSpeed_, minSpeed_;
public:
- // Constructeur.
+ /// Constructeur.
Motor (void);
- // Destructeur.
+ /// Destructeur.
virtual ~Motor (void);
- // Récupère l'instance unique.
+ /// Récupère l'instance unique.
static Motor &getInstance (void) { return *instance_; }
- // Appelée lors d'une mise à jour des compteurs.
+ /// Appelée lors d'une mise à jour des compteurs.
void updateCounter (int l, int r);
- // Choisi le mouvement en cours.
+ /// Choisi le mouvement en cours.
void setMovement (Movement *m);
- // Active l'asservissement.
+ /// Active l'asservissement.
void go (bool fl = true) { asserv_.go (fl); }
- // Teste si l'émission est terminée.
+ /// Teste si l'émission est terminée.
bool ok (void) { return asserv_.ok (); }
- // Attend que toute les émissions soit terminées.
+ /// Attend que toute les émissions soit terminées.
void waitOk (void) { asserv_.waitOk (); }
- // Teste si les mouvements sont terminés.
+ /// Teste si les mouvements sont terminés.
bool end (void);
- // Attend la fin de tout les mouvements.
+ /// Attend la fin de tout les mouvements.
void waitEnd (void);
- // Teste si les moteurs sont arrétés.
+ /// Teste si les moteurs sont arrétés.
bool stopped (void);
- // Attend que les moteurs soient arrétés.
+ /// Attend que les moteurs soient arrétés.
void waitStopped (void);
- // Récupère l'object tracker.
+ /// Récupère l'object tracker.
const Tracker &getTracker (void) const { return tracker_; }
- // Paramètre la vitesse des moteurs.
+ /// Paramètre la vitesse des moteurs.
void speed (double l, double r);
- // Va vers un point, renvois faux si atteind.
+ /// Va vers un point, renvois faux si atteind.
bool goTo (double x, double y, double eps = 5.0);
- // Va vers un point, en formant un arc de cercle, renvois faux si atteind.
+ /// Va vers un point, en formant un arc de cercle, renvois faux si atteind.
+ /// \deprecated Utiliser goTo().
bool goToArc (double x, double y, double eps = 5.0);
};
diff --git a/2004/i/nono/src/utils/Makefile.defs b/2004/i/nono/src/utils/Makefile.defs
index 34ca3dc..8f6dbda 100644
--- a/2004/i/nono/src/utils/Makefile.defs
+++ b/2004/i/nono/src/utils/Makefile.defs
@@ -1,4 +1,4 @@
LIBS += utils.a
-utils_a_SOURCES = rand.cc
+utils_a_SOURCES = rand.cc hexa.cc
utils.a: ${utils_a_SOURCES:%.cc=utils.a(%.o)}
diff --git a/2004/i/nono/src/utils/hexa.cc b/2004/i/nono/src/utils/hexa.cc
new file mode 100644
index 0000000..8a68aab
--- /dev/null
+++ b/2004/i/nono/src/utils/hexa.cc
@@ -0,0 +1,64 @@
+// hexa.cc
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "hexa.h"
+
+// Table de conversion en hexa.
+static const char *digit2hexTbl_ = "0123456789abcdef";
+
+// Table de conversion depuis l'hexa.
+static const int hex2digitTbl_[] =
+{
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 0-15 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 16-31 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 32-47 */
+ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9,-1,-1,-1,-1,-1,-1, /* 48-63 */
+ -1,10,11,12,13,14,15,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 64-79 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 80-95 */
+ -1,10,11,12,13,14,15,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 96-111 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 112-127 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 128-143 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 144-159 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 160-175 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 176-191 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 192-207 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 208-223 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 224-239 */
+ -1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1, /* 240-255 */
+};
+
+/// Converti un caractère hexa (0-9a-f) en chiffre (0-15).
+int
+hex2digit (char c)
+{
+ return hex2digitTbl_[c];
+}
+
+/// Converti un chiffre (0-15) en hexa (0-9a-f).
+char
+digit2hex (char d)
+{
+ return digit2hexTbl_[d];
+}
+
diff --git a/2004/i/nono/src/utils/hexa.h b/2004/i/nono/src/utils/hexa.h
new file mode 100644
index 0000000..38a4ae5
--- /dev/null
+++ b/2004/i/nono/src/utils/hexa.h
@@ -0,0 +1,34 @@
+#ifndef hexa_h
+#define hexa_h
+// hexa.h
+// nono - programme du robot 2004. {{{
+//
+// Copyright (C) 2004 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+
+/// Converti un caractère hexa (0-9a-f) en chiffre (0-15).
+int hex2digit (char c);
+
+/// Converti un chiffre (0-15) en hexa (0-9a-f).
+char digit2hex (char d);
+
+#endif // hexa_h