1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | /*!
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6 | * \file BlCtrlV2.h
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7 | * \brief Class for Mikrokopter's blctrlv2
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2011/09/13
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef BLCTRLV2_H
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14 | #define BLCTRLV2_H
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15 |
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16 | #include "Bldc.h"
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17 |
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18 | namespace flair
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19 | {
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20 | namespace core
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21 | {
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22 | class FrameworkManager;
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23 | class I2cPort;
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24 | }
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25 | namespace sensor
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26 | {
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27 | class BatteryMonitor;
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28 | }
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29 | }
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30 |
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31 | class BlCtrlV2_impl;
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32 |
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33 | namespace flair
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34 | {
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35 | namespace actuator
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36 | {
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37 | /*! \class BlCtrlV2
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38 | *
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39 | * \brief Class for Mikrokopter's blctrlv2
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40 | *
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41 | * blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor().
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42 | */
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43 | class BlCtrlV2 : public Bldc
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44 | {
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45 | friend class ::BlCtrlV2_impl;
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46 |
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47 | public:
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48 | /*!
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49 | * \brief Constructor
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50 | *
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51 | * Construct a BlCtrlV2.
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52 | *
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53 | * \param parent parent
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54 | * \param layout layout
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55 | * \param name name
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56 | * \param motors_count number of motors
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57 | * \param i2cport I2cPort
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58 | */
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59 | BlCtrlV2(const core::IODevice* parent,gui::Layout* layout,std::string name,uint8_t motors_count,core::I2cPort* i2cport);
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60 |
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61 | /*!
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62 | * \brief Destructor
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63 | *
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64 | */
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65 | ~BlCtrlV2();
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66 |
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67 | /*!
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68 | * \brief Get battery monitor
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69 | *
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70 | * \return BatteryMonitor
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71 | */
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72 | sensor::BatteryMonitor* GetBatteryMonitor(void) const;
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73 |
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74 | /*!
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75 | * \brief Has speed measurement
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76 | *
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77 | * Reimplemented from Bldc. \n
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78 | *
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79 | * \return true if it has speed measurement
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80 | */
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81 | bool HasSpeedMeasurement(void) const{return true;};
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82 |
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83 | /*!
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84 | * \brief Has current measurement
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85 | *
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86 | * Reimplemented from Bldc. \n
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87 | *
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88 | * \return true if it has current measurement
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89 | */
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90 | bool HasCurrentMeasurement(void) const{return true;};
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91 |
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92 | private:
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93 | /*!
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94 | * \brief Set motors values
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95 | *
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96 | * Reimplemented from Bldc. \n
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97 | * Values size must be the same as MotorsCount()
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98 | *
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99 | * \param values motor values
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100 | */
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101 | void SetMotors(float* values);
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102 |
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103 | class BlCtrlV2_impl* pimpl_;
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104 | };
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105 | } // end namespace actuator
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106 | } // end namespace flair
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107 | #endif // BLCTRLV2_H
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