source: flair-dev/trunk/include/FlairSensorActuator/AfroBldc.h@ 4

Last change on this file since 4 was 4, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 2.3 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
19{
20 namespace core
21 {
22 class FrameworkManager;
23 class I2cPort;
24 }
25 namespace sensor
26 {
27 class BatteryMonitor;
28 }
29}
30
31class AfroBldc_impl;
32
33namespace flair
34{
35namespace actuator
36{
37 /*! \class AfroBldc
38 *
39 * \brief Class for Mikrokopter's blctrlv2
40 *
41 * blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
42 */
43 class AfroBldc : public Bldc
44 {
45 friend class ::AfroBldc_impl;
46
47 public:
48 /*!
49 * \brief Constructor
50 *
51 * Construct a AfroBldc.
52 *
53 * \param parent parent
54 * \param layout layout
55 * \param name name
56 * \param motors_count number of motors
57 * \param i2cport I2cPort
58 */
59 AfroBldc(const core::IODevice* parent,gui::Layout* layout,std::string name,uint8_t motors_count,core::I2cPort* i2cport);
60
61 /*!
62 * \brief Destructor
63 *
64 */
65 ~AfroBldc();
66
67 /*!
68 * \brief Has speed measurement
69 *
70 * Reimplemented from Bldc. \n
71 *
72 * \return true if it has speed measurement
73 */
74 bool HasSpeedMeasurement(void) const{return false;};
75
76 /*!
77 * \brief Has current measurement
78 *
79 * Reimplemented from Bldc. \n
80 *
81 * \return true if it has current measurement
82 */
83 bool HasCurrentMeasurement(void) const{return false;};
84
85 private:
86 /*!
87 * \brief Set motors values
88 *
89 * Reimplemented from Bldc. \n
90 * Values size must be the same as MotorsCount()
91 *
92 * \param values motor values
93 */
94 void SetMotors(float* values);
95
96 class AfroBldc_impl* pimpl_;
97 };
98} // end namespace actuator
99} // end namespace flair
100#endif // AFROBLDC_H
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