source: flair-src/branches/mavlink/lib/FlairSensorActuator/src/unexported/XBldc_impl.h @ 98

Last change on this file since 98 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

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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//  created:    2013/11/13
6//  filename:   XBldc_impl.h
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    objet integrant les moteurs i2c Xufo
14//
15//
16/*********************************************************************/
17
18#ifndef XBLDC_IMPL_H
19#define XBLDC_IMPL_H
20
21#include <IODevice.h>
22#include <stdint.h>
23
24namespace flair {
25namespace core {
26class I2cPort;
27}
28namespace actuator {
29class XBldc;
30}
31}
32
33class XBldc_impl {
34
35public:
36  XBldc_impl(flair::actuator::XBldc *self, flair::core::I2cPort *i2cport);
37  ~XBldc_impl();
38  void UpdateFrom(flair::core::io_data *data);
39  void SetMotors(float *value);
40
41private:
42  uint8_t Sat(float value, uint8_t min, uint8_t max);
43  // void StartTest(uint8_t moteur);
44  void ChangeDirection(uint8_t moteur);
45  void ChangeAdress(uint8_t old_add, uint8_t new_add);
46  flair::actuator::XBldc *self;
47  flair::core::I2cPort *i2cport;
48};
49
50#endif // XBLDC_IMPL_H
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