source: flair-dev/trunk/include/FlairMeta/MetaDualShock3.h @ 9

Last change on this file since 9 was 9, checked in by Sanahuja Guillaume, 5 years ago

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File size: 2.1 KB
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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 {
19    namespace core {
20        class AhrsData;
21        class Quaternion;
22    }
23    namespace filter {
24        class 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    */
37    class MetaDualShock3 : public sensor::TargetEthController {
38        friend class ::MetaDualShock3_impl;
39
40        public:
41            MetaDualShock3(core::FrameworkManager* parent,std::string name,uint16_t port,uint8_t priority);
42            ~MetaDualShock3();
43            core::AhrsData* GetReferenceOrientation(void) const;
44            float ZRef(void) const;
45            float DzRef(void) const;
46            void SetYawRef(float value);
47            /*!
48            * \brief Set yaw reference
49            *
50            * Yaw part of the output quaternion is obtained by integrating the wz desired angular speed.\n
51            * This method reset the yaw.
52            *
53            * \param value value, only the yaw part of the quaternion is used
54            */
55            void SetYawRef(core::Quaternion const &value);
56            void SetZRef(float value);
57            float RollTrim(void) const;
58            float PitchTrim(void) const;
59            void ErrorNotify(void);
60            void Rumble(uint8_t left_force,uint8_t left_timeout=20,uint8_t right_force=0,uint8_t right_timeout=0);
61            void SetLedON(unsigned int ledId);
62            void SetLedOFF(unsigned int ledId);
63            void FlashLed(unsigned int ledId,uint8_t on_timeout,uint8_t off_timeout);
64
65        private:
66            class MetaDualShock3_impl* pimpl_;
67
68    };
69} // end namespace meta
70} // end namespace flair
71#endif // METADUALSHOCK3_H
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