source: flair-dev/trunk/include/FlairSensorActuator/ParrotBldc.h@ 4

Last change on this file since 4 was 4, checked in by Sanahuja Guillaume, 7 years ago

sensoractuator

File size: 2.2 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 ParrotBldc.h
7 * \brief Class for Ardrone 2 Bldc
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2013/12/19
10 * \version 4.0
11 */
12
13#ifndef PARROTBLDC_H
14#define PARROTBLDC_H
15
16#include "Bldc.h"
17
18namespace flair
19{
20 namespace core
21 {
22 class FrameworkManager;
23 class cvmatrix;
24 class SerialPort;
25 }
26 namespace gui
27 {
28 class Layout;
29 }
30}
31
32class ParrotBldc_impl;
33
34namespace flair
35{
36namespace actuator
37{
38 /*! \class ParrotBldc
39 *
40 * \brief Class for Ardrone 2 Bldc
41 */
42 class ParrotBldc : public Bldc
43 {
44 public:
45 /*!
46 * \brief Constructor
47 *
48 * Construct a ParrotBldc.
49 *
50 * \param parent parent
51 * \param layout layout
52 * \param name name
53 * \param serialport serialport
54 */
55 ParrotBldc(const core::IODevice* parent,gui::Layout* layout,std::string name,core::SerialPort* serialport);
56
57 /*!
58 * \brief Destructor
59 *
60 */
61 ~ParrotBldc();
62
63 /*!
64 * \brief Has speed measurement
65 *
66 * Reimplemented from Bldc. \n
67 *
68 * \return true if it has speed measurement
69 */
70 bool HasSpeedMeasurement(void) const{return false;};
71
72 /*!
73 * \brief Has current measurement
74 *
75 * Reimplemented from Bldc. \n
76 *
77 * \return true if it has current measurement
78 */
79 bool HasCurrentMeasurement(void) const{return false;};
80
81 private:
82 /*!
83 * \brief Set motors values
84 *
85 * Reimplemented from Bldc. \n
86 * Values size must be the same as MotorsCount()
87 *
88 * \param values motor values
89 */
90 void SetMotors(float* value);
91
92 class ParrotBldc_impl* pimpl_;
93 };
94} // end namespace actuator
95} // end namespace framewor
96#endif // PARROTBLDC_H
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