From 4fa1434052dd603cec70f0edfeeca8f47905fbfe Mon Sep 17 00:00:00 2001 From: haller Date: Mon, 2 May 2005 19:02:10 +0000 Subject: Ajout des paramètres d'asserv eSat et dSample Ajout d'une vietesse linéaire et rotation --- 2005/i/robert/src/asserv/test_asserv.cc | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) (limited to '2005/i/robert/src/asserv/test_asserv.cc') diff --git a/2005/i/robert/src/asserv/test_asserv.cc b/2005/i/robert/src/asserv/test_asserv.cc index 56483b6..ce3307a 100644 --- a/2005/i/robert/src/asserv/test_asserv.cc +++ b/2005/i/robert/src/asserv/test_asserv.cc @@ -276,11 +276,21 @@ main (int argc, char **argv) throw std::runtime_error("syntax error"); asserv.setKd(strtod(argv[i], 0)); break; + case 'E': + if(++i > argc) + throw std::runtime_error("syntax error"); + asserv.setESat(strtol(argv[i], 0, 10)); + break; case 'I': if(++i > argc) throw std::runtime_error("syntax error"); asserv.setSpeedIntMax(strtol(argv[i], 0, 10)); break; + case 's': + if(++i > argc) + throw std::runtime_error("syntax error"); + asserv.setDSample(strtol(argv[i], 0, 10)); + break; case 'A': if(++i > argc) throw std::runtime_error("syntax error"); @@ -289,7 +299,9 @@ main (int argc, char **argv) case 'm': if(++i > argc) throw std::runtime_error("syntax error"); - asserv.setMaxSpeed(strtol(argv[i], 0, 10)); + asserv.setMaxSpeed(strtol(argv[i], 0, 10), + strtol(argv[i + 1], 0, 10)); + i++; break; case 'W': if (++i + 1 > argc) -- cgit v1.2.3