source: flair-dev/trunk/include/FlairSensorActuator/BlCtrlV2_x4_speed.h@ 61

Last change on this file since 61 was 50, checked in by Sanahuja Guillaume, 5 years ago

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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// created: 2013/04/29
6// filename: BlCtrlV2_x4_speed.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet integrant les moteurs i2c, controle en vitesse
14//
15//
16/*********************************************************************/
17
18#ifndef BLCTRLV2_X4_SPEED_H
19#define BLCTRLV2_X4_SPEED_H
20
21#include <IODevice.h>
22#include <Thread.h>
23
24namespace flair {
25namespace core {
26class cvmatrix;
27class I2cPort;
28}
29namespace gui {
30class TabWidget;
31class Tab;
32class SpinBox;
33class DoubleSpinBox;
34class ComboBox;
35class PushButton;
36class GroupBox;
37}
38}
39
40namespace flair {
41namespace actuator {
42class BlCtrlV2_x4_speed : public core::Thread, public core::IODevice {
43
44public:
45 BlCtrlV2_x4_speed(std::string name,
46 core::I2cPort *i2cport, uint8_t base_address,
47 uint8_t priority);
48 ~BlCtrlV2_x4_speed();
49 void UseDefaultPlot(void);
50 void LockUserInterface(void);
51 void UnlockUserInterface(void);
52 void SetEnabled(bool status);
53 void SetUroll(float value);
54 void SetUpitch(float value);
55 void SetUyaw(float value);
56 void SetUgaz(float value);
57 void SetRollTrim(float value);
58 void SetPitchTrim(float value);
59 void SetYawTrim(float value);
60 void SetGazTrim(float value);
61 float TrimValue(void);
62 int StartValue(void);
63
64private:
65 /*!
66 * \brief Update using provided datas
67 *
68 * Reimplemented from IODevice.
69 *
70 * \param data data from the parent to process
71 */
72 void UpdateFrom(core::io_data *data){};
73 void WriteValue(uint16_t value);
74 float GetSpeed(void);
75 void StartTest(void);
76 void StopTest(void);
77 /*!
78 * \brief Run function
79 *
80 * Reimplemented from Thread.
81 *
82 */
83 void Run(void);
84 void Update(void);
85 gui::Tab *main_tab;
86 gui::TabWidget *tab;
87 gui::GroupBox *reglages_groupbox;
88 gui::SpinBox *min, *max, *test;
89 gui::PushButton *button_avg, *button_avd, *button_arg, *button_ard;
90 gui::ComboBox *av_g, *av_d, *ar_g, *ar_d, *pas;
91 gui::DoubleSpinBox *trim, *kp, *ki;
92 gui::SpinBox *start_value, *poles;
93 core::Time start_time, flight_start_time;
94 int time_sec;
95 float speed_av_g, speed_av_d, speed_ar_g, speed_ar_d;
96 float int_av_g, int_av_d, int_ar_g, int_ar_d;
97
98 // matrix
99 core::cvmatrix *input;
100 core::cvmatrix *output;
101
102 int tested_motor;
103 core::I2cPort *i2cport;
104 uint8_t slave_address;
105
106 bool enabled;
107
108 uint16_t SatPWM(float vel_cons, uint16_t min, uint16_t max);
109};
110} // end namespace actuator
111} // end namespace flair
112#endif // BLCTRLV2_X4_SPEED_H
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