| [4] | 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 BlCtrlV2.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 2011/09/13
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef BLCTRLV2_H
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| 14 | #define BLCTRLV2_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 | {
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| 20 | namespace core
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| 21 | {
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| 22 | class FrameworkManager;
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| 23 | class I2cPort;
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| 24 | }
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| 25 | namespace sensor
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| 26 | {
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| 27 | class BatteryMonitor;
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| 28 | }
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| 29 | }
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| 30 |
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| 31 | class BlCtrlV2_impl;
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| 32 |
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| 33 | namespace flair
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| 34 | {
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| 35 | namespace actuator
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| 36 | {
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| 37 | /*! \class BlCtrlV2
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| 38 | *
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| 39 | * \brief Class for Mikrokopter's blctrlv2
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| 40 | *
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| 41 | * blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
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| 42 | */
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| 43 | class BlCtrlV2 : public Bldc
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| 44 | {
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| 45 | friend class ::BlCtrlV2_impl;
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| 46 |
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| 47 | public:
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| 48 | /*!
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| 49 | * \brief Constructor
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| 50 | *
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| 51 | * Construct a BlCtrlV2.
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| 52 | *
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| 53 | * \param parent parent
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| 54 | * \param layout layout
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| 55 | * \param name name
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| 56 | * \param motors_count number of motors
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| 57 | * \param i2cport I2cPort
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| 58 | */
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| 59 | BlCtrlV2(const core::IODevice* parent,gui::Layout* layout,std::string name,uint8_t motors_count,core::I2cPort* i2cport);
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| 60 |
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| 61 | /*!
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| 62 | * \brief Destructor
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| 63 | *
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| 64 | */
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| 65 | ~BlCtrlV2();
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| 66 |
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| 67 | /*!
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| 68 | * \brief Get battery monitor
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| 69 | *
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| 70 | * \return BatteryMonitor
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| 71 | */
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| 72 | sensor::BatteryMonitor* GetBatteryMonitor(void) const;
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| 73 |
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| 74 | /*!
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| 75 | * \brief Has speed measurement
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| 76 | *
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| 77 | * Reimplemented from Bldc. \n
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| 78 | *
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| 79 | * \return true if it has speed measurement
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| 80 | */
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| 81 | bool HasSpeedMeasurement(void) const{return true;};
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| 82 |
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| 83 | /*!
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| 84 | * \brief Has current measurement
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| 85 | *
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| 86 | * Reimplemented from Bldc. \n
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| 87 | *
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| 88 | * \return true if it has current measurement
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| 89 | */
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| 90 | bool HasCurrentMeasurement(void) const{return true;};
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| 91 |
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| 92 | private:
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| 93 | /*!
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| 94 | * \brief Set motors values
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| 95 | *
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| 96 | * Reimplemented from Bldc. \n
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| 97 | * Values size must be the same as MotorsCount()
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| 98 | *
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| 99 | * \param values motor values
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| 100 | */
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| 101 | void SetMotors(float* values);
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| 102 |
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| 103 | class BlCtrlV2_impl* pimpl_;
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| 104 | };
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| 105 | } // end namespace actuator
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| 106 | } // end namespace flair
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| 107 | #endif // BLCTRLV2_H
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