From fbf9fdbeb40baf2431da481d14edfa1d232dc184 Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 9 May 2004 18:03:51 +0000 Subject: gpio hermite limitation de la vitesse angulaire movement queue motor_cmd --- 2004/i/nono/src/motor/asserv.h | 11 +++++++++++ 1 file changed, 11 insertions(+) (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 c391e41..aa39324 100644 --- a/2004/i/nono/src/motor/asserv.h +++ b/2004/i/nono/src/motor/asserv.h @@ -53,6 +53,7 @@ class Asserv int statMotor_; bool counter_; bool posAsserv_; + int gpiDelay_; bool asserv_; int zeroEps_; bool noSetParam_; @@ -64,6 +65,8 @@ class Asserv // Anciènne valeur des compteur. bool firstCounter_; int countLeft_, countRight_; + // Valeur de l'entrée GPI. + unsigned int gpi_; // Objet interessé par les stats. AsservTracker &asservTracker_; // Système de log. @@ -96,12 +99,18 @@ class Asserv void setStatMotor (int delay); void setCounter (bool fl = true); void setPosAsserv (bool fl = true); + void setGpiDelay (int delay); void setAsserv (bool fl = true); //@} /// Get factor to deduce speed scale from scale. double getSpeedFactor (void) const; /// Get factor to deduce accel scale from scale. double getAccelFactor (void) const; + /// Récupère l'entrée GPI. + unsigned int getGpi (void) const + { return gpi_; } + /// Envois la sortie GPO. + void sendGpo (unsigned int gpo); protected: /// @{ /// Envoie un message. @@ -120,6 +129,8 @@ class Asserv void handleStatMotor (void); /// Traite un message du compteur. void handleCounter (void); + /// Traite les GPI. + void handleGpi (void); }; #endif // asserv_h -- cgit v1.2.3