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106<div class="header">
107 <div class="headertitle">
108<div class="title">Bldc.h</div> </div>
109</div><!--header-->
110<div class="contents">
111<a href="_bldc_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// %flair:license{</span></div>
112<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// This file is part of the Flair framework distributed under the</span></div>
113<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">// CECILL-C License, Version 1.0.</span></div>
114<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// %flair:license}</span></div>
115<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef BLDC_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define BLDC_H</span></div>
117<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;</div>
118<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_i_o_device_8h.html">IODevice.h</a>&gt;</span></div>
119<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
120<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;</div>
121<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
122<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="keyword">namespace </span>core {</div>
123<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="keyword">class </span>FrameworkManager;</div>
124<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="keyword">class </span>cvmatrix;</div>
125<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;}</div>
126<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="keyword">namespace </span>gui {</div>
127<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="keyword">class </span>Layout;</div>
128<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="keyword">class </span>TabWidget;</div>
129<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;}</div>
130<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;}</div>
131<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;</div>
132<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="keyword">class </span>Bldc_impl;</div>
133<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;</div>
134<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
135<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="keyword">namespace </span>actuator {</div>
136<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classflair_1_1actuator_1_1_bldc.html"> 38</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1actuator_1_1_bldc.html">Bldc</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> {</div>
137<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; <span class="keyword">friend</span> class ::Bldc_impl;</div>
138<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;</div>
139<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="keyword">public</span>:</div>
140<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; <a class="code" href="classflair_1_1actuator_1_1_bldc.html#acb60358e96275823a489fb2d18a0d119">Bldc</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> *parent, <a class="code" href="classflair_1_1gui_1_1_layout.html">gui::Layout</a> *layout, std::string name,</div>
141<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; uint8_t motors_count);</div>
142<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160;</div>
143<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <a class="code" href="classflair_1_1actuator_1_1_bldc.html#acb60358e96275823a489fb2d18a0d119">Bldc</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_object.html">core::Object</a> *parent, std::string name, uint8_t motors_count);</div>
144<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160;</div>
145<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; <a class="code" href="classflair_1_1actuator_1_1_bldc.html#a1569d6c4eed96b9f53cae6cd027b7608">~Bldc</a>();</div>
146<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160;</div>
147<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1actuator_1_1_bldc.html#a6c1d6173c5dcc0fa550464268847ca91">LockUserInterface</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
148<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;</div>
149<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1actuator_1_1_bldc.html#ac1fba30ad70a6d8ff075d376c0e417dd">UnlockUserInterface</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
150<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;</div>
151<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1actuator_1_1_bldc.html#a5f653e25984ae11ae7f513e1fbad7d10">UseDefaultPlot</a>(<a class="code" href="classflair_1_1gui_1_1_tab_widget.html">gui::TabWidget</a> *tabwidget);</div>
152<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160;</div>
153<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *<a class="code" href="classflair_1_1actuator_1_1_bldc.html#a8d0ed04a12dfcb381cfabd887279df6f">Output</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
154<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160;</div>
155<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160; uint8_t <a class="code" href="classflair_1_1actuator_1_1_bldc.html#aba973fd0797e039fc33c720729215570">MotorsCount</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
156<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160;</div>
157<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1actuator_1_1_bldc.html#ac030794b46b72db4184592f7cff11731">SetEnabled</a>(<span class="keywordtype">bool</span> status);</div>
158<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160;</div>
159<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1actuator_1_1_bldc.html#a82ad883235b4477905ef78b4daf8dccf">AreEnabled</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
160<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160;</div>
161<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1actuator_1_1_bldc.html#ae040c7faecb20b538da7932a3a2e589f">SetPower</a>(<span class="keywordtype">int</span> motor_id, <span class="keywordtype">float</span> value);</div>
162<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160;</div>
163<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>&#160; <a class="code" href="classflair_1_1gui_1_1_layout.html">gui::Layout</a> *<a class="code" href="classflair_1_1actuator_1_1_bldc.html#a330135b8772cff48754df0e4f720cd0b">GetLayout</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
164<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>&#160;</div>
165<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1actuator_1_1_bldc.html#a37cf2c11de84720a8549f184d3fd3c1a">HasSpeedMeasurement</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;</div>
166<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>&#160;</div>
167<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1actuator_1_1_bldc.html#aab69754edb7248757135740a1ced9169">HasCurrentMeasurement</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span> = 0;</div>
168<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160;</div>
169<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160;<span class="keyword">protected</span>:</div>
170<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>&#160; <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *output;</div>
171<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>&#160;</div>
172<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>&#160;<span class="keyword">private</span>:</div>
173<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160; <span class="keywordtype">void</span> UpdateFrom(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data);</div>
174<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160;</div>
175<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> SetMotors(<span class="keywordtype">float</span> *values) = 0;</div>
176<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>&#160;</div>
177<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160; <span class="keyword">class </span>Bldc_impl *pimpl_;</div>
178<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160;};</div>
179<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>&#160;} <span class="comment">// end namespace actuator</span></div>
180<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>&#160;} <span class="comment">// end namespace framewor</span></div>
181<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>&#160;<span class="preprocessor">#endif // BLDC_H</span></div>
182<div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:77</div></div>
183<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_ac1fba30ad70a6d8ff075d376c0e417dd"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#ac1fba30ad70a6d8ff075d376c0e417dd">flair::actuator::Bldc::UnlockUserInterface</a></div><div class="ttdeci">void UnlockUserInterface(void) const </div><div class="ttdoc">Unlock user interface. </div></div>
184<div class="ttc" id="classflair_1_1core_1_1_object_html"><div class="ttname"><a href="classflair_1_1core_1_1_object.html">flair::core::Object</a></div><div class="ttdoc">Base class for all Framework&#39;s classes. </div><div class="ttdef"><b>Definition:</b> Object.h:77</div></div>
185<div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:44</div></div>
186<div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
187<div class="ttc" id="classflair_1_1core_1_1cvmatrix_html"><div class="ttname"><a href="classflair_1_1core_1_1cvmatrix.html">flair::core::cvmatrix</a></div><div class="ttdoc">Class defining a matrix of kind CvMat. </div><div class="ttdef"><b>Definition:</b> cvmatrix.h:33</div></div>
188<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_ae040c7faecb20b538da7932a3a2e589f"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#ae040c7faecb20b538da7932a3a2e589f">flair::actuator::Bldc::SetPower</a></div><div class="ttdeci">void SetPower(int motor_id, float value)</div><div class="ttdoc">Set motor power. </div></div>
189<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_a8d0ed04a12dfcb381cfabd887279df6f"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#a8d0ed04a12dfcb381cfabd887279df6f">flair::actuator::Bldc::Output</a></div><div class="ttdeci">core::cvmatrix * Output(void) const </div><div class="ttdoc">Output from motors. </div></div>
190<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_aab69754edb7248757135740a1ced9169"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#aab69754edb7248757135740a1ced9169">flair::actuator::Bldc::HasCurrentMeasurement</a></div><div class="ttdeci">virtual bool HasCurrentMeasurement(void) const =0</div><div class="ttdoc">Has current measurement. </div></div>
191<div class="ttc" id="_i_o_device_8h_html"><div class="ttname"><a href="_i_o_device_8h.html">IODevice.h</a></div><div class="ttdoc">Abstract class for input/ouput system. </div></div>
192<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_aba973fd0797e039fc33c720729215570"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#aba973fd0797e039fc33c720729215570">flair::actuator::Bldc::MotorsCount</a></div><div class="ttdeci">uint8_t MotorsCount(void) const </div><div class="ttdoc">Motors count. </div></div>
193<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_acb60358e96275823a489fb2d18a0d119"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#acb60358e96275823a489fb2d18a0d119">flair::actuator::Bldc::Bldc</a></div><div class="ttdeci">Bldc(const core::IODevice *parent, gui::Layout *layout, std::string name, uint8_t motors_count)</div><div class="ttdoc">Constructor. </div></div>
194<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_a6c1d6173c5dcc0fa550464268847ca91"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#a6c1d6173c5dcc0fa550464268847ca91">flair::actuator::Bldc::LockUserInterface</a></div><div class="ttdeci">void LockUserInterface(void) const </div><div class="ttdoc">Lock user interface. </div></div>
195<div class="ttc" id="classflair_1_1gui_1_1_layout_html"><div class="ttname"><a href="classflair_1_1gui_1_1_layout.html">flair::gui::Layout</a></div><div class="ttdoc">Abstract class to display a layout on the ground station. </div><div class="ttdef"><b>Definition:</b> Layout.h:33</div></div>
196<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_ac030794b46b72db4184592f7cff11731"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#ac030794b46b72db4184592f7cff11731">flair::actuator::Bldc::SetEnabled</a></div><div class="ttdeci">void SetEnabled(bool status)</div><div class="ttdoc">Enable motors. </div></div>
197<div class="ttc" id="classflair_1_1gui_1_1_tab_widget_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab_widget.html">flair::gui::TabWidget</a></div><div class="ttdoc">Class displaying a QTabWidget on the ground station. </div><div class="ttdef"><b>Definition:</b> TabWidget.h:29</div></div>
198<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_a37cf2c11de84720a8549f184d3fd3c1a"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#a37cf2c11de84720a8549f184d3fd3c1a">flair::actuator::Bldc::HasSpeedMeasurement</a></div><div class="ttdeci">virtual bool HasSpeedMeasurement(void) const =0</div><div class="ttdoc">Has speed measurement. </div></div>
199<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_a1569d6c4eed96b9f53cae6cd027b7608"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#a1569d6c4eed96b9f53cae6cd027b7608">flair::actuator::Bldc::~Bldc</a></div><div class="ttdeci">~Bldc()</div><div class="ttdoc">Destructor. </div></div>
200<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_a5f653e25984ae11ae7f513e1fbad7d10"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#a5f653e25984ae11ae7f513e1fbad7d10">flair::actuator::Bldc::UseDefaultPlot</a></div><div class="ttdeci">void UseDefaultPlot(gui::TabWidget *tabwidget)</div><div class="ttdoc">Use default plot. </div></div>
201<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_a82ad883235b4477905ef78b4daf8dccf"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#a82ad883235b4477905ef78b4daf8dccf">flair::actuator::Bldc::AreEnabled</a></div><div class="ttdeci">bool AreEnabled(void) const </div><div class="ttdoc">Are motors enabled? </div></div>
202<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html_a330135b8772cff48754df0e4f720cd0b"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html#a330135b8772cff48754df0e4f720cd0b">flair::actuator::Bldc::GetLayout</a></div><div class="ttdeci">gui::Layout * GetLayout(void) const </div><div class="ttdoc">Layout. </div></div>
203<div class="ttc" id="classflair_1_1actuator_1_1_bldc_html"><div class="ttname"><a href="classflair_1_1actuator_1_1_bldc.html">flair::actuator::Bldc</a></div><div class="ttdoc">Base class for brushless motors drivers. </div><div class="ttdef"><b>Definition:</b> Bldc.h:38</div></div>
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