From 032165203253df50890cf9a43d373d86792f3a21 Mon Sep 17 00:00:00 2001 From: schodet Date: Sat, 15 Nov 2003 22:46:05 +0000 Subject: Initial revision --- .../src/communication_asservissement_control.h | 48 ++++++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 i/siroco/src/communication_asservissement_control.h (limited to 'i/siroco/src/communication_asservissement_control.h') diff --git a/i/siroco/src/communication_asservissement_control.h b/i/siroco/src/communication_asservissement_control.h new file mode 100644 index 0000000..3e797ee --- /dev/null +++ b/i/siroco/src/communication_asservissement_control.h @@ -0,0 +1,48 @@ +#ifndef communication_asservissement_control_h +#define communication_asservissement_control_h +// communication_asservissement_control.h +// {{{ +// +// Copyright (C) 2003 Nicolas Schodet et Pierre-André Galmes +// +// Robot APB Team/Efrei 2004. +// Web: http://assos.efrei.fr/robot/ +// Email: robot AT efrei DOT fr +// +// This program is free software; you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation; either version 2 of the License, or +// (at your option) any later version. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +// +// }}} + +class CommunicationAsservissementControl +{ + class Connector + { + public: + // Envoie les inforamtions de PID à l'objet. + virtual void recvPID (int p, int i, int d) = 0; + }; + Connector &connector_; + public: + // Paramètre le connecteur. + void setConnector (Connector &c); + // Recoie un message. + void recv (const Message &m); + // Envoie des messages de changement de Coef. + void coefP (int val) const; + void coefI (int val) const; + void coefD (int val) const; +}; + +#endif // communication_asservissement_control_h -- cgit v1.2.3