From 922ad44dedc5e217bcf99cf98f9fb940f4774101 Mon Sep 17 00:00:00 2001 From: galmes Date: Sun, 25 Jan 2004 16:27:25 +0000 Subject: Implémentation de la classe MessageAsservissementData --- i/siroco/src/message_asservissement_info.cc | 81 +++++++++++++++++++++++++++++ 1 file changed, 81 insertions(+) create mode 100644 i/siroco/src/message_asservissement_info.cc (limited to 'i/siroco/src/message_asservissement_info.cc') diff --git a/i/siroco/src/message_asservissement_info.cc b/i/siroco/src/message_asservissement_info.cc new file mode 100644 index 0000000..7e21588 --- /dev/null +++ b/i/siroco/src/message_asservissement_info.cc @@ -0,0 +1,81 @@ +// message_asservissement_info.cc +// {{{ +// +// Copyright (C) 2004 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. +// +// }}} +#include "message_asservissement_info.h" + + +namespace Siroco +{ + +// Constructeur. +MessageAsservissementInfo :: MessageAsservissementInfo + (Type type, int p, int i, int d, int consignMin, + int pwmMin, int measureMin, int consignMax, int + pwmMax, int measureMax) + :Message (type) +{ + // Coefficient relatifs à l'asservissement + p_ = p; + i_ = i; + d_ = d; + + // valeurs Min et Max des paramètres c, p et m. + consignMin_ = consignMin; + consignMax_ = consignMax; + pwmMin_ = pwmMin; + pwmMax_ = pwmMax; + measureMin_ = measureMax; + measureMax_ = measureMax; +} + +// Destructeur. +MessageAsservissementInfo :: ~MessageAsservissementInfo (void) +{ +} + + +// Renvoyer les valeur de p_, i_ et d_. +void +MessageAsservissementInfo :: getPID (int &p, int &i, int &d) const +{ + p = p_; + i = i_; + d = d_; +} + +// +void +MessageAsservissementInfo :: getMinMax (int &consignMin, int &pwmMin, int + &measureMin, int &consignMax, int + &pwmMax, int &measureMax) const +{ + consignMin = consignMin_; + consignMax = consignMax_; + pwmMin = pwmMin_; + pwmMax = pwmMax_; + measureMin = measureMax_; + measureMax = measureMax_; +} + +}; // namespace Siroco -- cgit v1.2.3