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