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#ifndef message_asservissement_info_h
#define message_asservissement_info_h
// message_asservissement_info.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 "message.h"

namespace Siroco
{

class MessageAsservissementInfo : public Message
{
  private:
    // Coefficients relatifs � l'asservissement
    int p_, i_, d_;
    // valeurs Min et Max des param�tres c, p et m.
    int consignMin_, pwmMin_, measureMin_;
    int consignMax_, pwmMax_, measureMax_;
  public:
    // Constructeur.
    MessageAsservissementInfo (int p = 1, int i = 1, int d = 1, 
			       int consignMin = 1, int pwmMin = 1, 
			       int measureMin = 1, int consignMax = 1, 
			       int pwmMax = 1, int measureMax = 1);
    // Destructeur.
    ~MessageAsservissementInfo (void);
    // R�cup�re les donn�es.
    void getPID (int &p, int &i, int &d) const;
    void getMinMax (int &consignMin, int &pwmMin, int &measureMin, int
		    &consignMax, int &pwmMax, int &measureMax) const;
};

}; // namespace Siroco

#endif // message_asservissement_info_h