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#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_;
    // Param�tres.
    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_;
    // Syst�me 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 param�tres.
    void reset (void);
    /// Teste si l'�mission est termin�e.
    bool ok (void);
    /// Attend que toute les �missions soit termin�es.
    void waitOk (void);
    //@{
    /// Change les param�tres 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