source: flair-dev/trunk/include/FlairSensorActuator/BlCtrlV2.h @ 76

Last change on this file since 76 was 50, checked in by Sanahuja Guillaume, 4 years ago

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File size: 1.9 KB
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[4]1// %flair:license{
[13]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[4]4// %flair:license}
5/*!
6 * \file BlCtrlV2.h
7 * \brief Class for Mikrokopter's blctrlv2
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/09/13
10 * \version 4.0
11 */
12
13#ifndef BLCTRLV2_H
14#define BLCTRLV2_H
15
16#include "Bldc.h"
17
[13]18namespace flair {
19namespace core {
20class I2cPort;
[4]21}
[13]22namespace sensor {
23class BatteryMonitor;
24}
25}
[4]26
27class BlCtrlV2_impl;
28
[13]29namespace flair {
30namespace actuator {
31/*! \class BlCtrlV2
32*
33* \brief Class for Mikrokopter's blctrlv2
34*
35* blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
36*/
37class BlCtrlV2 : public Bldc {
38  friend class ::BlCtrlV2_impl;
[4]39
[13]40public:
41  /*!
42  * \brief Constructor
43  *
44  * Construct a BlCtrlV2.
45  *
46  * \param parent parent
47  * \param layout layout
48  * \param name name
49  * \param motors_count number of motors
50  * \param i2cport I2cPort
51  */
52  BlCtrlV2(const core::IODevice *parent, gui::Layout *layout, std::string name,
53           uint8_t motors_count, core::I2cPort *i2cport);
[4]54
[13]55  /*!
56  * \brief Destructor
57  *
58  */
59  ~BlCtrlV2();
[4]60
[13]61  /*!
62  * \brief Get battery monitor
63  *
64  * \return BatteryMonitor
65  */
66  sensor::BatteryMonitor *GetBatteryMonitor(void) const;
[4]67
[13]68  /*!
69  * \brief Has speed measurement
70  *
71  * Reimplemented from Bldc. \n
72  *
73  * \return true if it has speed measurement
74  */
75  bool HasSpeedMeasurement(void) const { return true; };
[4]76
[13]77  /*!
78  * \brief Has current measurement
79  *
80  * Reimplemented from Bldc. \n
81  *
82  * \return true if it has current measurement
83  */
84  bool HasCurrentMeasurement(void) const { return true; };
[4]85
[13]86private:
87  /*!
88  * \brief Set motors values
89  *
90  * Reimplemented from Bldc. \n
91  * Values size must be the same as MotorsCount()
92  *
93  * \param values motor values
94  */
95  void SetMotors(float *values);
[4]96
[13]97  class BlCtrlV2_impl *pimpl_;
98};
[4]99} // end namespace actuator
100} // end namespace flair
101#endif // BLCTRLV2_H
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