From 956ed7c81f1897c8adf308e35faa5ce5f38af7ba Mon Sep 17 00:00:00 2001 From: haller Date: Sun, 17 Apr 2005 13:44:59 +0000 Subject: Correction du bug de non initialisation des variables de conversions --- 2005/i/robert/src/asserv/asserv.cc | 16 +++++++++++++++- 2005/i/robert/src/asserv/asserv.hh | 1 - 2 files changed, 15 insertions(+), 2 deletions(-) (limited to '2005/i') diff --git a/2005/i/robert/src/asserv/asserv.cc b/2005/i/robert/src/asserv/asserv.cc index 358a3fc..c1be051 100644 --- a/2005/i/robert/src/asserv/asserv.cc +++ b/2005/i/robert/src/asserv/asserv.cc @@ -52,6 +52,12 @@ void Asserv::reset(void) setKi(ki_); setKd(kd_); setMaxSpeed(maxSpeed_); + statCounter(pCounter_); + statPosition(pPosition_); + statMotor(pMotor_); + statPwm(pPwm_); + statTiming(pTiming_); + statInPort(pStatInPort_); } /// Essaie de purger la liste d'émission et indique si elle est vide. @@ -344,7 +350,15 @@ void Asserv::loadConfig(const Config & config) kd_ = config.get("asserv.kd"); speedIntMax_ = config.get("asserv.speedIntMax"); maxSpeed_ = config.get("asserv.maxSpeed"); - pwmMax_ = config.get("asserv.pwmMax"); + mmPpas_ = config.get("asserv.mmPpas"); + sPperiod_ = config.get("asserv.sPperiod"); + pwmMax = config.get("asserv.pwmMax"); + pCounter_ = 0; + pPosition_ = 0; + pMotor_ = 0; + pPwm_ = 0; + pTiming_ = 0; + pStatInPort_ = 0; } int Asserv::mm2pasD(double dist) diff --git a/2005/i/robert/src/asserv/asserv.hh b/2005/i/robert/src/asserv/asserv.hh index 34e6f06..4a19493 100644 --- a/2005/i/robert/src/asserv/asserv.hh +++ b/2005/i/robert/src/asserv/asserv.hh @@ -68,7 +68,6 @@ class Asserv : public NonCopyable, public Proto::Receiver double kd_; int16_t speedIntMax_; double maxSpeed_; - double maxPwn_; // Stat double pCounter_; double pPosition_; -- cgit v1.2.3