source: flair-src/trunk/lib/FlairSensorActuator/src/AfroBldc.h @ 157

Last change on this file since 157 was 137, checked in by Sanahuja Guillaume, 5 years ago

singleton manager

File size: 1.8 KB
Line 
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 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
18namespace flair {
19namespace core {
20class I2cPort;
21}
22namespace sensor {
23class BatteryMonitor;
24}
25}
26
27class AfroBldc_impl;
28
29namespace flair {
30namespace actuator {
31/*! \class AfroBldc
32*
33* \brief Class for Mikrokopter's blctrlv2
34*
35* blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
36*/
37class AfroBldc : public Bldc {
38  friend class ::AfroBldc_impl;
39
40public:
41  /*!
42  * \brief Constructor
43  *
44  * Construct a AfroBldc.
45  *
46  * \param parent parent
47  * \param layout layout
48  * \param name name
49  * \param motors_count number of motors
50  * \param i2cport I2cPort
51  */
52  AfroBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
53           uint8_t motors_count, core::I2cPort *i2cport);
54
55  /*!
56  * \brief Destructor
57  *
58  */
59  ~AfroBldc();
60
61  /*!
62  * \brief Has speed measurement
63  *
64  * Reimplemented from Bldc. \n
65  *
66  * \return true if it has speed measurement
67  */
68  bool HasSpeedMeasurement(void) const { return false; };
69
70  /*!
71  * \brief Has current measurement
72  *
73  * Reimplemented from Bldc. \n
74  *
75  * \return true if it has current measurement
76  */
77  bool HasCurrentMeasurement(void) const { return false; };
78
79private:
80  /*!
81  * \brief Set motors values
82  *
83  * Reimplemented from Bldc. \n
84  * Values size must be the same as MotorsCount()
85  *
86  * \param values motor values
87  */
88  void SetMotors(float *values);
89
90  class AfroBldc_impl *pimpl_;
91};
92} // end namespace actuator
93} // end namespace flair
94#endif // AFROBLDC_H
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