source: flair-dev/trunk/include/FlairSensorActuator/Srf08.h@ 61

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

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File size: 1.7 KB
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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/*!
6 * \file Srf08.h
7 * \brief Class for ultra sonic SRF08
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2011/05/01
10 * \version 4.0
11 */
12
13#ifndef SRF08_H
14#define SRF08_H
15
16#include <Thread.h>
17#include <UsRangeFinder.h>
18
19namespace flair {
20namespace core {
21class I2cPort;
22}
23namespace gui {
24class SpinBox;
25}
26}
27
28namespace flair {
29namespace sensor {
30/*! \class Srf08
31*
32* \brief Class for ultra sonic SRF08
33*/
34class Srf08 : public core::Thread, public UsRangeFinder {
35
36public:
37 /*!
38 * \brief Constructor
39 *
40 * Construct a SRF08 sensor
41 * It will be child of the FrameworkManager.
42 *
43 * \param name name
44 * \param i2cport i2c port
45 * \param address i2c slave address
46 * \param priority priority of the Thread
47 */
48 Srf08(std::string name,
49 core::I2cPort *i2cport, uint16_t address, uint8_t priority);
50
51 /*!
52 * \brief Destructor
53 *
54 */
55 ~Srf08();
56
57 /*!
58 * \brief Set Range
59 *
60 * check datasheet for values
61 */
62 void SetRange(void);
63
64 /*!
65 * \brief Set Max Gain
66 *
67 * check datasheet for values
68 */
69 void SetMaxGain(void);
70
71private:
72 /*!
73 * \brief Update using provided datas
74 *
75 * Reimplemented from IODevice.
76 *
77 * \param data data from the parent to process
78 */
79 void UpdateFrom(const core::io_data *data){};
80
81 /*!
82 * \brief Run function
83 *
84 * Reimplemented from Thread.
85 *
86 */
87 void Run(void);
88
89 void SendEcho(void);
90 void GetEcho(void);
91
92 bool is_init;
93 core::Time echo_time;
94 float z_1, z_2;
95 gui::SpinBox *gain, *range;
96 uint16_t address;
97 core::I2cPort *i2cport;
98};
99} // end namespace sensor
100} // end namespace flair
101#endif // SRF08_H
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