// analog_servo_pp.cc // nono - programme du robot 2004. {{{ // // Copyright (C) 2004 Nicolas Schodet // // 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 "analog_servo_pp.h" #include "config/config.h" /// Constructeur. AnalogServoPp::AnalogServoPp (GpioServoPp &gspp) : gspp_ (gspp) { Config rc ("rc/analog_servo_pp"); while (!rc.eof ()) { double d; rc >> d; linear_.push_back (d); } // Construit la table des noms. names_["ana0"] = 0; names_["ana1"] = 1; names_["ana2"] = 2; names_["ana3"] = 3; } /// Récupère la valeur linéarisée du capteur n. double AnalogServoPp::get (int n) { int i = gspp_.getAna (n); if (i >= 0 && i < static_cast (linear_.size ())) return linear_[i]; else return 0.0; } /// Récupère le nombre d'entrées analogiques. int AnalogServoPp::getNb (void) const { return gspp_.getNbAna (); } /// Récupère une entrée par son nom. int AnalogServoPp::getByName (const std::string &name) const { Names::const_iterator i = names_.find (name); if (i != names_.end ()) return i->second; else return -1; }