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 Bldc.h |
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7 | * \brief Base class for brushless motors drivers |
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253 |
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9 | * \date 2013/11/14 |
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10 | * \version 4.0 |
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11 | */ |
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12 | |
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13 | #ifndef BLDC_H |
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14 | #define BLDC_H |
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15 | |
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16 | #include <IODevice.h> |
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17 | #include <stdint.h> |
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18 | |
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19 | namespace flair { |
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20 | namespace core { |
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21 | class FrameworkManager; |
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22 | class cvmatrix; |
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23 | } |
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24 | namespace gui { |
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25 | class Layout; |
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26 | class TabWidget; |
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27 | } |
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28 | } |
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29 | |
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30 | class Bldc_impl; |
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31 | |
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32 | namespace flair { |
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33 | namespace actuator { |
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34 | /*! \class Bldc |
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35 | * |
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36 | * \brief Base class for brushless motors drivers |
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37 | */ |
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38 | class Bldc : public core::IODevice { |
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39 | friend class ::Bldc_impl; |
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40 | |
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41 | public: |
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42 | /*! |
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43 | * \brief Constructor |
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44 | * |
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45 | * Construct a Bldc. |
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46 | * |
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47 | * \param parent parent |
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48 | * \param layout layout |
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49 | * \param name name |
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50 | * \param motors_count number of motors |
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51 | */ |
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52 | Bldc(const core::IODevice *parent, gui::Layout *layout, std::string name, |
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53 | uint8_t motors_count); |
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54 | |
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55 | /*! |
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56 | * \brief Constructor |
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57 | * |
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58 | * Construct a Bldc. \n |
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59 | * This contructor must only be called for a simulated device. |
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60 | * |
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61 | * \param parent parent |
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62 | * \param name name |
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63 | * \param motors_count number of motors |
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64 | */ |
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65 | Bldc(const core::Object *parent, std::string name, uint8_t motors_count); |
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66 | |
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67 | /*! |
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68 | * \brief Destructor |
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69 | * |
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70 | */ |
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71 | ~Bldc(); |
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72 | |
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73 | /*! |
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74 | * \brief Lock user interface |
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75 | * |
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76 | */ |
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77 | void LockUserInterface(void) const; |
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78 | |
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79 | /*! |
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80 | * \brief Unlock user interface |
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81 | * |
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82 | */ |
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83 | void UnlockUserInterface(void) const; |
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84 | |
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85 | /*! |
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86 | * \brief Use default plot |
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87 | * |
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88 | * \param tabwidget TabWidget to draw plots |
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89 | */ |
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90 | void UseDefaultPlot(gui::TabWidget *tabwidget); |
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91 | |
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92 | /*! |
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93 | * \brief Output from motors |
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94 | * |
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95 | * First column is real speed if available, secund column is current if |
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96 | *available |
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97 | * |
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98 | */ |
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99 | core::cvmatrix *Output(void) const; |
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100 | |
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101 | /*! |
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102 | * \brief Motors count |
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103 | * |
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104 | * \return number of motors |
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105 | */ |
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106 | uint8_t MotorsCount(void) const; |
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107 | |
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108 | /*! |
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109 | * \brief Enable motors |
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110 | * |
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111 | * \param true to enable all motors |
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112 | */ |
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113 | void SetEnabled(bool status); |
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114 | |
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115 | /*! |
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116 | * \brief Are motors enabled? |
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117 | * |
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118 | * \return true if motors are enabled |
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119 | */ |
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120 | bool AreEnabled(void) const; |
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121 | |
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122 | /*! |
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123 | * \brief Set motor power |
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124 | * |
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125 | * Changes the power (from 0 to 1) of a specific motor. \n |
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126 | * By default power is set to 1 for each motor which has no effect. \n |
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127 | * A value <1 will decrease the power of a motor sent to the reimplemented Bldc |
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128 | *class through SetMotors. \n |
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129 | * The power value is applied after applying saturation between min value and |
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130 | *max value. |
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131 | * So the resulting value cannot be higher than max value |
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132 | * but it can be lower than min value. |
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133 | * |
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134 | * \param motor_id id of the motor |
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135 | * \param value power value (from 0 to 1) |
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136 | * |
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137 | */ |
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138 | void SetPower(int motor_id, float value); |
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139 | |
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140 | /*! |
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141 | * \brief Layout |
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142 | * |
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143 | * This the same Layout as passed to the constructor |
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144 | * |
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145 | * \return a Layout |
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146 | */ |
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147 | gui::Layout *GetLayout(void) const; |
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148 | |
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149 | /*! |
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150 | * \brief Has speed measurement |
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151 | * |
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152 | * \return true if it has speed measurement |
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153 | */ |
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154 | virtual bool HasSpeedMeasurement(void) const = 0; |
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155 | |
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156 | /*! |
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157 | * \brief Has current measurement |
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158 | * |
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159 | * \return true if it has current measurement |
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160 | */ |
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161 | virtual bool HasCurrentMeasurement(void) const = 0; |
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162 | |
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163 | protected: |
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164 | core::cvmatrix *output; |
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165 | |
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166 | private: |
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167 | /*! |
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168 | * \brief Update using provided datas |
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169 | * |
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170 | * Reimplemented from IODevice. |
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171 | * |
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172 | * \param data data from the parent to process |
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173 | */ |
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174 | void UpdateFrom(const core::io_data *data); |
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175 | |
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176 | /*! |
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177 | * \brief Set motors values |
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178 | * |
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179 | * values size must be the same as MotorsCount() |
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180 | * |
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181 | * \param values set motors values |
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182 | */ |
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183 | virtual void SetMotors(float *values) = 0; |
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184 | |
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185 | class Bldc_impl *pimpl_; |
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186 | }; |
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187 | } // end namespace actuator |
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188 | } // end namespace framewor |
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189 | #endif // BLDC_H |
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