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-rw-r--r--digital/io-hub/src/apbirthday/robot.hh10
1 files changed, 10 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.hh b/digital/io-hub/src/apbirthday/robot.hh
index d65b2a3a..e0b50f41 100644
--- a/digital/io-hub/src/apbirthday/robot.hh
+++ b/digital/io-hub/src/apbirthday/robot.hh
@@ -24,6 +24,7 @@
//
// }}}
#include "hardware.hh"
+#include "asserv.hh"
#include "ucoolib/base/proto/proto.hh"
@@ -31,6 +32,9 @@
class Robot : public ucoo::Proto::Handler
{
public:
+ /// Scaling factor, millimeter per step.
+ static const float scale = 0.0395840674352314;
+ public:
/// Initialise robot singleton.
Robot ();
/// Main program loop.
@@ -43,6 +47,12 @@ class Robot : public ucoo::Proto::Handler
/// Public access to hardware class.
Hardware hardware;
private:
+ /// Main I2C queue.
+ I2cQueue main_i2c_queue_;
+ public:
+ /// Public access to asserv class.
+ Asserv asserv;
+ private:
/// Proto associated to each serial interface.
ucoo::Proto dev_proto, zb_proto, usb_proto;
};