Last change
on this file since 12 was 4, checked in by Sanahuja Guillaume, 9 years ago |
sensoractuator
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File size:
2.4 KB
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[4] | 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 Srf08.h
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| 7 | * \brief Class for ultra sonic SRF08
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2011/05/01
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef SRF08_H
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| 14 | #define SRF08_H
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| 15 |
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| 16 | #include <Thread.h>
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| 17 | #include <UsRangeFinder.h>
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| 18 |
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| 19 | namespace flair
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| 20 | {
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| 21 | namespace core
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| 22 | {
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| 23 | class FrameworkManager;
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| 24 | class I2cPort;
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| 25 | }
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| 26 | namespace gui
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| 27 | {
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| 28 | class SpinBox;;
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| 29 | }
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| 30 | }
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| 31 |
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| 32 | namespace flair
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| 33 | {
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| 34 | namespace sensor
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| 35 | {
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| 36 | /*! \class Srf08
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| 37 | *
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| 38 | * \brief Class for ultra sonic SRF08
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| 39 | */
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| 40 | class Srf08 : public core::Thread, public UsRangeFinder
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| 41 | {
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| 42 |
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| 43 | public:
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| 44 | /*!
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| 45 | * \brief Constructor
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| 46 | *
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| 47 | * Construct a SimuUs. Control part.
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| 48 | *
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| 49 | * \param parent parent
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| 50 | * \param name name
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| 51 | * \param i2cport i2c port
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| 52 | * \param address i2c slave address
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| 53 | * \param priority priority of the Thread
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| 54 | */
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| 55 | Srf08(const core::FrameworkManager* parent,std::string name,core::I2cPort* i2cport,uint16_t address,uint8_t priority);
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| 56 |
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| 57 | /*!
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| 58 | * \brief Destructor
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| 59 | *
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| 60 | */
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| 61 | ~Srf08();
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| 62 |
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| 63 | /*!
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| 64 | * \brief Set Range
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| 65 | *
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| 66 | * check datasheet for values
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| 67 | */
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| 68 | void SetRange(void);
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| 69 |
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| 70 | /*!
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| 71 | * \brief Set Max Gain
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| 72 | *
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| 73 | * check datasheet for values
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| 74 | */
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| 75 | void SetMaxGain(void);
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| 76 |
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| 77 | private:
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| 78 | /*!
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| 79 | * \brief Update using provided datas
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| 80 | *
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| 81 | * Reimplemented from IODevice.
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| 82 | *
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| 83 | * \param data data from the parent to process
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| 84 | */
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| 85 | void UpdateFrom(const core::io_data *data){};
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| 86 |
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| 87 | /*!
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| 88 | * \brief Run function
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| 89 | *
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| 90 | * Reimplemented from Thread.
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| 91 | *
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| 92 | */
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| 93 | void Run(void);
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| 94 |
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| 95 | void SendEcho(void);
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| 96 | void GetEcho(void);
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| 97 |
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| 98 | bool is_init;
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| 99 | core::Time echo_time;
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| 100 | float z_1,z_2;
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| 101 | gui::SpinBox *gain,*range;
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| 102 | uint16_t address;
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| 103 | core::I2cPort* i2cport;
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| 104 | };
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| 105 | } // end namespace sensor
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| 106 | } // end namespace flair
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| 107 | #endif // SRF08_H
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