1 | // %flair:license{ |
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2 | // This file is part of the Flair framework distributed under the |
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3 | // CECILL-C License, Version 1.0. |
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4 | // %flair:license} |
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5 | /*! |
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6 | * \file MetaDualShock3.h |
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7 | * \brief Classe intégrant la manette DualShock3 et les consignes joystick |
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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9 | * \date 2014/01/14 |
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10 | * \version 3.4 |
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11 | */ |
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12 | |
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13 | #ifndef METADUALSHOCK3_H |
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14 | #define METADUALSHOCK3_H |
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15 | |
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16 | #include <TargetEthController.h> |
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17 | |
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18 | namespace flair { |
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19 | namespace core { |
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20 | class AhrsData; |
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21 | class Quaternion; |
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22 | } |
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23 | namespace filter { |
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24 | class Ahrs; |
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25 | } |
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26 | } |
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27 | |
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28 | class MetaDualShock3_impl; |
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29 | |
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30 | namespace flair { |
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31 | namespace meta { |
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32 | |
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33 | /*! \class MetaDualShock3 |
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34 | * |
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35 | * \brief Classe intégrant la manette MetaDualShock3 |
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36 | */ |
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37 | class MetaDualShock3 : public sensor::TargetEthController { |
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38 | friend class ::MetaDualShock3_impl; |
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39 | |
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40 | public: |
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41 | MetaDualShock3(core::FrameworkManager *parent, std::string name, |
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42 | uint16_t port, uint8_t priority); |
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43 | ~MetaDualShock3(); |
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44 | core::AhrsData *GetReferenceOrientation(void) const; |
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45 | float ZRef(void) const; |
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46 | float DzRef(void) const; |
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47 | void SetYawRef(float value); |
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48 | /*! |
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49 | * \brief Set yaw reference |
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50 | * |
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51 | * Yaw part of the output quaternion is obtained by integrating the wz desired |
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52 | *angular speed.\n |
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53 | * This method reset the yaw. |
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54 | * |
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55 | * \param value value, only the yaw part of the quaternion is used |
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56 | */ |
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57 | void SetYawRef(core::Quaternion const &value); |
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58 | void SetZRef(float value); |
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59 | float RollTrim(void) const; |
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60 | float PitchTrim(void) const; |
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61 | void ErrorNotify(void); |
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62 | void Rumble(uint8_t left_force, uint8_t left_timeout = 20, |
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63 | uint8_t right_force = 0, uint8_t right_timeout = 0); |
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64 | void SetLedON(unsigned int ledId); |
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65 | void SetLedOFF(unsigned int ledId); |
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66 | void FlashLed(unsigned int ledId, uint8_t on_timeout, uint8_t off_timeout); |
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67 | |
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68 | private: |
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69 | class MetaDualShock3_impl *pimpl_; |
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70 | }; |
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71 | } // end namespace meta |
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72 | } // end namespace flair |
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73 | #endif // METADUALSHOCK3_H |
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