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

Last change on this file since 4 was 4, checked in by Sanahuja Guillaume, 5 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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