source: flair-dev/trunk/include/FlairSensorActuator/BlCtrlV2.h @ 13

Last change on this file since 13 was 13, checked in by Bayard Gildas, 5 years ago

formatting script + include reformatted

File size: 2.0 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 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
18namespace flair {
19namespace core {
20class FrameworkManager;
21class I2cPort;
22}
23namespace sensor {
24class BatteryMonitor;
25}
26}
27
28class BlCtrlV2_impl;
29
30namespace flair {
31namespace actuator {
32/*! \class BlCtrlV2
33*
34* \brief Class for Mikrokopter's blctrlv2
35*
36* blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
37*/
38class BlCtrlV2 : public Bldc {
39  friend class ::BlCtrlV2_impl;
40
41public:
42  /*!
43  * \brief Constructor
44  *
45  * Construct a BlCtrlV2.
46  *
47  * \param parent parent
48  * \param layout layout
49  * \param name name
50  * \param motors_count number of motors
51  * \param i2cport I2cPort
52  */
53  BlCtrlV2(const core::IODevice *parent, gui::Layout *layout, std::string name,
54           uint8_t motors_count, core::I2cPort *i2cport);
55
56  /*!
57  * \brief Destructor
58  *
59  */
60  ~BlCtrlV2();
61
62  /*!
63  * \brief Get battery monitor
64  *
65  * \return BatteryMonitor
66  */
67  sensor::BatteryMonitor *GetBatteryMonitor(void) const;
68
69  /*!
70  * \brief Has speed measurement
71  *
72  * Reimplemented from Bldc. \n
73  *
74  * \return true if it has speed measurement
75  */
76  bool HasSpeedMeasurement(void) const { return true; };
77
78  /*!
79  * \brief Has current measurement
80  *
81  * Reimplemented from Bldc. \n
82  *
83  * \return true if it has current measurement
84  */
85  bool HasCurrentMeasurement(void) const { return true; };
86
87private:
88  /*!
89  * \brief Set motors values
90  *
91  * Reimplemented from Bldc. \n
92  * Values size must be the same as MotorsCount()
93  *
94  * \param values motor values
95  */
96  void SetMotors(float *values);
97
98  class BlCtrlV2_impl *pimpl_;
99};
100} // end namespace actuator
101} // end namespace flair
102#endif // BLCTRLV2_H
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