Last change
on this file since 4 was
4,
checked in by Sanahuja Guillaume, 5 years ago
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sensoractuator
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File size:
2.4 KB
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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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