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// message_asservissement_info.cc
//  {{{
//
// Copyright (C) 2004 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 "message_asservissement_info.h"


namespace Siroco
{

// Constructeur.
MessageAsservissementInfo :: MessageAsservissementInfo 
			    (Type type, int p, int i, int d, int consignMin,
			     int pwmMin, int measureMin, int consignMax, int
			     pwmMax, int measureMax)
			    :Message (type)
{
    // Coefficient relatifs � l'asservissement
    p_ = p;
    i_ = i;
    d_ = d;
    
    // valeurs Min et Max des param�tres c, p et m.
    consignMin_ = consignMin;
    consignMax_ = consignMax;
    pwmMin_ = pwmMin;
    pwmMax_ = pwmMax;
    measureMin_ = measureMax;
    measureMax_ = measureMax;
}

// Destructeur.
MessageAsservissementInfo :: ~MessageAsservissementInfo (void)
{
}


// Renvoyer les valeur de p_, i_ et d_.
void 
MessageAsservissementInfo :: getPID (int &p, int &i, int &d) const
{
    p = p_;
    i = i_;
    d = d_;
}

// 
void 
MessageAsservissementInfo :: getMinMax (int &consignMin, int &pwmMin, int
					&measureMin, int &consignMax, int
					&pwmMax, int &measureMax) const
{
    consignMin = consignMin_;
    consignMax = consignMax_;
    pwmMin = pwmMin_;
    pwmMax = pwmMax_;
    measureMin = measureMax_;
    measureMax = measureMax_;
}

}; // namespace Siroco