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// 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;
}

/// R�cup�re la valeur lin�aris�e du capteur n.
double
AnalogServoPp::get (int n)
{
    int i = gspp_.getAna (n);
    if (i >= 0 && i < static_cast<int> (linear_.size ()))
	return linear_[i];
    else
	return 0.0;
}

/// R�cup�re le nombre d'entr�es analogiques.
int
AnalogServoPp::getNb (void) const
{
    return gspp_.getNbAna ();
}

/// R�cup�re une entr�e 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;
}