#ifndef asserv_hh #define asserv_hh // asserv.hh // robert - programme du robot 2005 {{{ // // Copyright (C) 2005 Nicolas Haller // // Robot APB Team/Efrei 2005. // 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 "utils/non_copyable.hh" #include "proto/proto.hh" #include "log/log.hh" /// Classe de dialogue avec la carte d'asservissement. class Asserv : public NonCopyable, public Proto::Receiver { // Communication avec l'AVR Proto proto_; // Paramètres. int accel_, kp_, ki_, kd_; int statMotor_; int counter_; bool posAsserv_; int gpiDelay_; bool asserv_; int zeroEps_; bool noSetParam_; // Ancienne valeur des compteur. bool firstCounter_; int countLeft_, countRight_; int countLeftSum_, countRightSum_; // Valeurs GPIO. unsigned int gpi_; unsigned int gpo_; // Système de log. Log log_; public: /// Constructeur. Asserv (const Config & config); /// Destructeur. XXX Y'a besoin du destructeur? ~Asserv (void); /// Reset la carte et envois les paramètres. void reset (void); /// Teste si l'émission est terminée. bool ok (void); /// Attend que toute les émissions soit terminées. void waitOk (void); //@{ /// Change les paramètres de la carte. void setAccel (int accel); void setKp (int kp); void setKi (int ki); void setKd (int kd); void setStatMotor (int delay); void setCounter (int delay); void setPosAsserv (bool fl = true); void setGpiDelay (int delay); void setAsserv (bool fl = true); //@} }; #endif // asserv_h