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#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.
//
// }}}

class CommunicationAsservissementControl
{
    class Connector
      {
      public:
	// Envoie les informations de PID � l'objet.
	virtual void recvPID (int p, int i, int d) = 0;
      };
    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;
};

#endif // communication_asservissement_control_h