// 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