source: flair-dev/trunk/include/FlairSensorActuator/AfroBldc.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: 1.8 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 AfroBldc.h
7 * \brief Class for Mikrokopter's blctrlv2
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2015/06/15
10 * \version 4.0
11 */
12
13#ifndef AFROBLDC_H
14#define AFROBLDC_H
15
16#include "Bldc.h"
17
18namespace flair {
19namespace core {
20class FrameworkManager;
21class I2cPort;
22}
23namespace sensor {
24class BatteryMonitor;
25}
26}
27
28class AfroBldc_impl;
29
30namespace flair {
31namespace actuator {
32/*! \class AfroBldc
33*
34* \brief Class for Mikrokopter's blctrlv2
35*
36* blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
37*/
38class AfroBldc : public Bldc {
39  friend class ::AfroBldc_impl;
40
41public:
42  /*!
43  * \brief Constructor
44  *
45  * Construct a AfroBldc.
46  *
47  * \param parent parent
48  * \param layout layout
49  * \param name name
50  * \param motors_count number of motors
51  * \param i2cport I2cPort
52  */
53  AfroBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
54           uint8_t motors_count, core::I2cPort *i2cport);
55
56  /*!
57  * \brief Destructor
58  *
59  */
60  ~AfroBldc();
61
62  /*!
63  * \brief Has speed measurement
64  *
65  * Reimplemented from Bldc. \n
66  *
67  * \return true if it has speed measurement
68  */
69  bool HasSpeedMeasurement(void) const { return false; };
70
71  /*!
72  * \brief Has current measurement
73  *
74  * Reimplemented from Bldc. \n
75  *
76  * \return true if it has current measurement
77  */
78  bool HasCurrentMeasurement(void) const { return false; };
79
80private:
81  /*!
82  * \brief Set motors values
83  *
84  * Reimplemented from Bldc. \n
85  * Values size must be the same as MotorsCount()
86  *
87  * \param values motor values
88  */
89  void SetMotors(float *values);
90
91  class AfroBldc_impl *pimpl_;
92};
93} // end namespace actuator
94} // end namespace flair
95#endif // AFROBLDC_H
Note: See TracBrowser for help on using the repository browser.