Last change
on this file since 197 was 122, checked in by Sanahuja Guillaume, 8 years ago |
modifs uav vrpn i686
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File size:
1.1 KB
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[43] | 1 | // created: 2015/10/29
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| 2 | // filename: MyApp.h
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: skeleton to use UavStateMachine with custom torques only
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #ifndef MYAPP_H
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| 15 | #define MYAPP_H
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| 16 |
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| 17 | #include <UavStateMachine.h>
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| 18 |
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| 19 | namespace framework {
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| 20 | namespace gui {
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| 21 | class PushButton;
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| 22 | }
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| 23 | namespace sensor {
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| 24 | class TargetController;
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| 25 | }
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| 26 | }
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| 27 |
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| 28 | class MyApp : public flair::meta::UavStateMachine {
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| 29 | public:
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[122] | 30 | MyApp(flair::sensor::TargetController *controller);
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[43] | 31 | ~MyApp();
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| 32 |
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| 33 | private:
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| 34 | enum class BehaviourMode_t {
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| 35 | Default,
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| 36 | CustomTorques
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| 37 | };
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| 38 |
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| 39 | BehaviourMode_t behaviourMode;
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| 40 |
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| 41 | void ComputeCustomTorques(flair::core::Euler &torques);
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| 42 | void StartCustomTorques(void);
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| 43 | void StopCustomTorques(void);
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| 44 | void ExtraCheckPushButton(void);
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| 45 | void ExtraCheckJoystick(void);
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| 46 | void SignalEvent(Event_t event);
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| 47 |
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| 48 | flair::gui::PushButton *start_CustomTorques,*stop_CustomTorques;
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| 49 | };
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| 50 |
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| 51 | #endif // MYAPP_H
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