From 8808da5ae1dbc8f005bd5b2267cf31478d94b9e5 Mon Sep 17 00:00:00 2001 From: schodet Date: Sun, 25 May 2003 16:50:59 +0000 Subject: Fix: ça compile Add: utilisation de Config --- 2003/i/buzz/src/busp/Makefile.defs | 2 +- 2003/i/buzz/src/busp/busp.h | 3 +++ 2003/i/buzz/src/busp/busp_servo.cc | 10 +++------- 2003/i/buzz/src/busp/test_busp.cc | 4 +++- 4 files changed, 10 insertions(+), 9 deletions(-) diff --git a/2003/i/buzz/src/busp/Makefile.defs b/2003/i/buzz/src/busp/Makefile.defs index 1477ac9..aa3bd09 100644 --- a/2003/i/buzz/src/busp/Makefile.defs +++ b/2003/i/buzz/src/busp/Makefile.defs @@ -1,5 +1,5 @@ TARGETS += test_busp test_busp_SOURCES = busp.cc busp_ir.cc busp_servo.cc busp_capteurs.cc \ - test_busp.cc erreur.a + busp_actionneurs.cc test_busp.cc erreur.a config.a test_busp: $(test_busp_SOURCES:%.cc=%.o) diff --git a/2003/i/buzz/src/busp/busp.h b/2003/i/buzz/src/busp/busp.h index c56219b..3bbabe4 100644 --- a/2003/i/buzz/src/busp/busp.h +++ b/2003/i/buzz/src/busp/busp.h @@ -6,6 +6,7 @@ #include "busp_ir.h" #include "busp_servo.h" #include "busp_capteurs.h" +#include "busp_actionneurs.h" // Gère le busp coté hard. class Busp @@ -14,6 +15,7 @@ class Busp BuspIr m_ir; BuspServo m_servo; BuspCapteurs m_capteurs; + BuspActionneurs m_actionneurs; static Busp *m_instance; public: volatile int irqs; @@ -39,6 +41,7 @@ class Busp BuspIr &getIr (void) { return m_ir; } BuspServo &getServo (void) { return m_servo; } BuspCapteurs &getCapteurs (void) { return m_capteurs; } + BuspActionneurs &getActionneurs (void) { return m_actionneurs; } }; diff --git a/2003/i/buzz/src/busp/busp_servo.cc b/2003/i/buzz/src/busp/busp_servo.cc index ae1536f..ad95c34 100644 --- a/2003/i/buzz/src/busp/busp_servo.cc +++ b/2003/i/buzz/src/busp/busp_servo.cc @@ -4,9 +4,7 @@ // #include "busp_servo.h" #include "busp.h" -#include "erreur.h" - -#include +#include "config/config.h" // Constructeur. BuspServo::BuspServo () @@ -15,16 +13,14 @@ BuspServo::BuspServo () for (int i = 0; i < m_nbServo; ++i) m_pos[i] = 127; // Lectures des positions préprogrammées. - ifstream rc ("rc/busp/servo"); + Config rc ("rc/busp/servo"); for (int i = 0; i < m_nbPositions; ++i) for (int s = 0; s < m_nbServo; ++s) { m_ppos[i][s] = -1; rc >> m_ppos[i][s]; } - // Vérifie les erreurs. - if (rc.bad ()) - throw ErreurFatale ("Impossible d'ouvrir `rc/busp/servo'\n"); + rc.getEof (); } // Bouge le servo N en POS. diff --git a/2003/i/buzz/src/busp/test_busp.cc b/2003/i/buzz/src/busp/test_busp.cc index a3b7c9e..154e83c 100644 --- a/2003/i/buzz/src/busp/test_busp.cc +++ b/2003/i/buzz/src/busp/test_busp.cc @@ -81,7 +81,7 @@ main (int argc, char **argv) if (strcmp (argv[2], "all") == 0) { busp.getActionneurs ().setAll (atoi (argv[3]), - atoi (argv[4])) + atoi (argv[4])); } else { @@ -191,6 +191,8 @@ testCapteurs (void) while (1) { Busp::getInstance ().getCapteurs ().dump (); + cout << '\r'; + cout.flush (); sleep (1); } } -- cgit v1.2.3