#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. // // }}} #include "communication_module.h" namespace Siroco { class CommunicationAsservissementControl : public CommunicationModule { public: class Connector { public: // Envoie les informations de PID à l'objet. virtual void recvPID (int p, int i, int d) = 0; }; private: 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; }; }; //Siroco #endif // communication_asservissement_control_h