Last change
on this file since 122 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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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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30 | MyApp(flair::sensor::TargetController *controller);
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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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