diff options
Diffstat (limited to 'src/modules/segway/BlockSegwayController.hpp')
| -rw-r--r-- | src/modules/segway/BlockSegwayController.hpp | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/src/modules/segway/BlockSegwayController.hpp b/src/modules/segway/BlockSegwayController.hpp index b16d38338..e2faa4916 100644 --- a/src/modules/segway/BlockSegwayController.hpp +++ b/src/modules/segway/BlockSegwayController.hpp @@ -8,11 +8,20 @@ class BlockSegwayController : public control::BlockUorbEnabledAutopilot { public: BlockSegwayController() : BlockUorbEnabledAutopilot(NULL,"SEG"), - phi2spd(this, "PHI2SPD") + theta2spd(this, "THETA2SPD"), + q2spd(this, "Q2SPD"), + _attPoll(), + _timeStamp(0) { + _attPoll.fd = _att.getHandle(); + _attPoll.events = POLLIN; } void update(); private: - BlockP phi2spd; + enum {CH_LEFT, CH_RIGHT}; + BlockPI theta2spd; + BlockP q2spd; + struct pollfd _attPoll; + uint64_t _timeStamp; }; |