summaryrefslogtreecommitdiff
path: root/i/siroco/src/communication_asservissement_control.h
blob: e408cb8f49463835e5033772e83fce0cfe231698 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
#ifndef communication_asservissement_control_h
#define communication_asservissement_control_h
// communication_asservissement_control.h
//  {{{
//
// Copyright (C) 2003 Nicolas Schodet et Pierre-Andr� 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 � l'objet.
	virtual void recvPID (int p, int i, int d) = 0;
      };
  private:  
    Connector &connector_;
    
  public:
    // Param�tre 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