#ifndef message_asservissement_info_h #define message_asservissement_info_h // message_asservissement_info.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 "message.h" namespace Siroco { class MessageAsservissementInfo : public Message { private: // Coefficients relatifs à l'asservissement int p_, i_, d_; // valeurs Min et Max des paramètres c, p et m. int consignMin_, pwmMin_, measureMin_; int consignMax_, pwmMax_, measureMax_; public: // Constructeur. MessageAsservissementInfo (int p = 1, int i = 1, int d = 1, int consignMin = 1, int pwmMin = 1, int measureMin = 1, int consignMax = 1, int pwmMax = 1, int measureMax = 1); // Destructeur. ~MessageAsservissementInfo (void); // Récupère les données. void getPID (int &p, int &i, int &d) const; void getMinMax (int &consignMin, int &pwmMin, int &measureMin, int &consignMax, int &pwmMax, int &measureMax) const; }; }; // namespace Siroco #endif // message_asservissement_info_h