source: flair-src/trunk/lib/FlairSensorActuator/src/AfroBldc.h@ 122

Last change on this file since 122 was 15, checked in by Bayard Gildas, 6 years ago

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[3]1// %flair:license{
[15]2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
[3]4// %flair:license}
5/*!
6 * \file AfroBldc.h
7 * \brief Class for Mikrokopter's blctrlv2
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2015/06/15
10 * \version 4.0
11 */
12
13#ifndef AFROBLDC_H
14#define AFROBLDC_H
15
16#include "Bldc.h"
17
[15]18namespace flair {
19namespace core {
20class FrameworkManager;
21class I2cPort;
[3]22}
[15]23namespace sensor {
24class BatteryMonitor;
25}
26}
[3]27
28class AfroBldc_impl;
29
[15]30namespace flair {
31namespace actuator {
32/*! \class AfroBldc
33*
34* \brief Class for Mikrokopter's blctrlv2
35*
36* blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
37*/
38class AfroBldc : public Bldc {
39 friend class ::AfroBldc_impl;
[3]40
[15]41public:
42 /*!
43 * \brief Constructor
44 *
45 * Construct a AfroBldc.
46 *
47 * \param parent parent
48 * \param layout layout
49 * \param name name
50 * \param motors_count number of motors
51 * \param i2cport I2cPort
52 */
53 AfroBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
54 uint8_t motors_count, core::I2cPort *i2cport);
[3]55
[15]56 /*!
57 * \brief Destructor
58 *
59 */
60 ~AfroBldc();
[3]61
[15]62 /*!
63 * \brief Has speed measurement
64 *
65 * Reimplemented from Bldc. \n
66 *
67 * \return true if it has speed measurement
68 */
69 bool HasSpeedMeasurement(void) const { return false; };
[3]70
[15]71 /*!
72 * \brief Has current measurement
73 *
74 * Reimplemented from Bldc. \n
75 *
76 * \return true if it has current measurement
77 */
78 bool HasCurrentMeasurement(void) const { return false; };
[3]79
[15]80private:
81 /*!
82 * \brief Set motors values
83 *
84 * Reimplemented from Bldc. \n
85 * Values size must be the same as MotorsCount()
86 *
87 * \param values motor values
88 */
89 void SetMotors(float *values);
[3]90
[15]91 class AfroBldc_impl *pimpl_;
92};
[3]93} // end namespace actuator
94} // end namespace flair
95#endif // AFROBLDC_H
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