From dcb901c549f81eb8124458448ce40e305a98fd4d Mon Sep 17 00:00:00 2001 From: haller Date: Sun, 17 Apr 2005 02:32:07 +0000 Subject: Corrections de quelques erreurs de syntaxe classe à tester avec un port série --- 2005/i/robert/src/asserv/asserv.cc | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) (limited to '2005/i/robert/src/asserv/asserv.cc') diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc index e3a0f59..358a3fc 100644 --- a/2005/i/robert/src/asserv/asserv.cc +++ b/2005/i/robert/src/asserv/asserv.cc @@ -241,6 +241,7 @@ void Asserv::setKd(double Kd) void Asserv::setSpeedIntMax(int16_t maxInt) { + speedIntMax_ = maxInt; proto_.send('p', "bW", 'a', maxInt); } @@ -334,14 +335,16 @@ void Asserv::receive(char command, const Proto::Frame &frame) /// Charge les données de la classe config void Asserv::loadConfig(const Config & config) { - footing_ = config.get("asserv.footing"); - epsilon_ = config.get("asserv.epsilon"); - accel_ = config.get("asserv.accel"); - kp_ = config.get("asserv.kp"); - ki_ = config.get("asserv.ki"); - kd_ = config.get("asserv.kd"); - maxSpeed_ = config.get("asserv.maxSpeed"); - pwmMax_ = config.get("asserv.maxPwm"); + ttyName_ = config.get("asserv.tty"); + footing_ = config.get("asserv.footing"); + epsilon_ = config.get("asserv.epsilon"); + accel_ = config.get("asserv.accel"); + kp_ = config.get("asserv.kp"); + ki_ = config.get("asserv.ki"); + kd_ = config.get("asserv.kd"); + speedIntMax_ = config.get("asserv.speedIntMax"); + maxSpeed_ = config.get("asserv.maxSpeed"); + pwmMax_ = config.get("asserv.pwmMax"); } int Asserv::mm2pasD(double dist) -- cgit v1.2.3