source: flair-dev/trunk/include/FlairMeta/MetaDualShock3.h @ 13

Last change on this file since 13 was 13, checked in by Bayard Gildas, 5 years ago

formatting script + include reformatted

File size: 1.9 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file MetaDualShock3.h
7 * \brief Classe intégrant la manette DualShock3 et les consignes joystick
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/01/14
10 * \version 3.4
11 */
12
13#ifndef METADUALSHOCK3_H
14#define METADUALSHOCK3_H
15
16#include <TargetEthController.h>
17
18namespace flair {
19namespace core {
20class AhrsData;
21class Quaternion;
22}
23namespace filter {
24class Ahrs;
25}
26}
27
28class MetaDualShock3_impl;
29
30namespace flair {
31namespace meta {
32
33/*! \class MetaDualShock3
34*
35* \brief Classe intégrant la manette MetaDualShock3
36*/
37class MetaDualShock3 : public sensor::TargetEthController {
38  friend class ::MetaDualShock3_impl;
39
40public:
41  MetaDualShock3(core::FrameworkManager *parent, std::string name,
42                 uint16_t port, uint8_t priority);
43  ~MetaDualShock3();
44  core::AhrsData *GetReferenceOrientation(void) const;
45  float ZRef(void) const;
46  float DzRef(void) const;
47  void SetYawRef(float value);
48  /*!
49  * \brief Set yaw reference
50  *
51  * Yaw part of the output quaternion is obtained by integrating the wz desired
52  *angular speed.\n
53  * This method reset the yaw.
54  *
55  * \param value value, only the yaw part of the quaternion is used
56  */
57  void SetYawRef(core::Quaternion const &value);
58  void SetZRef(float value);
59  float RollTrim(void) const;
60  float PitchTrim(void) const;
61  void ErrorNotify(void);
62  void Rumble(uint8_t left_force, uint8_t left_timeout = 20,
63              uint8_t right_force = 0, uint8_t right_timeout = 0);
64  void SetLedON(unsigned int ledId);
65  void SetLedOFF(unsigned int ledId);
66  void FlashLed(unsigned int ledId, uint8_t on_timeout, uint8_t off_timeout);
67
68private:
69  class MetaDualShock3_impl *pimpl_;
70};
71} // end namespace meta
72} // end namespace flair
73#endif // METADUALSHOCK3_H
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