From dddf37ebeac3b89c7e1cfe644ceefa85d2d02aec Mon Sep 17 00:00:00 2001 From: schodet Date: Thu, 22 Apr 2004 22:01:08 +0000 Subject: Nouvelle version de la carte d'asservissement. Nouvelle version MovementGoto. --- 2004/i/nono/src/motor/asserv.h | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) (limited to '2004/i/nono/src/motor/asserv.h') diff --git a/2004/i/nono/src/motor/asserv.h b/2004/i/nono/src/motor/asserv.h index 2ff8c30..60b9893 100644 --- a/2004/i/nono/src/motor/asserv.h +++ b/2004/i/nono/src/motor/asserv.h @@ -48,8 +48,11 @@ class Asserv int ttyspeed_; // Paramètres. int accel_, kp_, ki_, kd_; - bool statMotor_, counter_; + int statMotor_; + bool counter_; bool posAsserv_; + bool asserv_; + bool noSetParam_; // File d'emmission. std::queue sendQueue_; // Buffer de reception. @@ -69,8 +72,8 @@ class Asserv ~Asserv (void); /// Reset la carte et envois les paramètres. void reset (void); - /// Active l'asservissement. - void go (bool fl = true); + /// Paramètre la carte d'asservissement. + void setParam (void); /// Stop ! void stop (void); /// Réglage de la vitesse. @@ -88,9 +91,10 @@ class Asserv void setKp (int kp); void setKi (int ki); void setKd (int kd); - void setStatMotor (bool fl = true); + void setStatMotor (int delay); void setCounter (bool fl = true); void setPosAsserv (bool fl = true); + void setAsserv (bool fl = true); /// @} protected: /// @{ -- cgit v1.2.3