source: flair-src/trunk/lib/FlairSensorActuator/src/BlCtrlV2_x4_speed.h@ 4

Last change on this file since 4 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 3.3 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// created: 2013/04/29
6// filename: BlCtrlV2_x4_speed.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet integrant les moteurs i2c, controle en vitesse
14//
15//
16/*********************************************************************/
17
18
19#ifndef BLCTRLV2_X4_SPEED_H
20#define BLCTRLV2_X4_SPEED_H
21
22#include <IODevice.h>
23#include <Thread.h>
24
25namespace flair
26{
27 namespace core
28 {
29 class cvmatrix;
30 class FrameworkManager;
31 class I2cPort;
32
33 }
34 namespace gui
35 {
36 class TabWidget;
37 class Tab;
38 class SpinBox;
39 class DoubleSpinBox;
40 class ComboBox;
41 class PushButton;
42 class GroupBox;
43 }
44}
45
46namespace flair
47{
48namespace actuator
49{
50 class BlCtrlV2_x4_speed : public core::Thread,public core::IODevice
51 {
52
53 public:
54 BlCtrlV2_x4_speed(core::FrameworkManager* parent,std::string name,core::I2cPort* i2cport,uint8_t base_address,uint8_t priority);
55 ~BlCtrlV2_x4_speed();
56 void UseDefaultPlot(void);
57 void LockUserInterface(void);
58 void UnlockUserInterface(void);
59 void SetEnabled(bool status);
60 void SetUroll(float value);
61 void SetUpitch(float value);
62 void SetUyaw(float value);
63 void SetUgaz(float value);
64 void SetRollTrim(float value);
65 void SetPitchTrim(float value);
66 void SetYawTrim(float value);
67 void SetGazTrim(float value);
68 float TrimValue(void);
69 int StartValue(void);
70
71 private:
72 /*!
73 * \brief Update using provided datas
74 *
75 * Reimplemented from IODevice.
76 *
77 * \param data data from the parent to process
78 */
79 void UpdateFrom(core::io_data *data){};
80 void WriteValue(uint16_t value);
81 float GetSpeed(void);
82 void StartTest(void);
83 void StopTest(void);
84 /*!
85 * \brief Run function
86 *
87 * Reimplemented from Thread.
88 *
89 */
90 void Run(void);
91 void Update(void);
92 gui::Tab* main_tab;
93 gui::TabWidget* tab;
94 gui::GroupBox* reglages_groupbox;
95 gui::SpinBox *min,*max,*test;
96 gui::PushButton *button_avg,*button_avd,*button_arg,*button_ard;
97 gui::ComboBox *av_g,*av_d,*ar_g,*ar_d,*pas;
98 gui::DoubleSpinBox *trim,*kp,*ki;
99 gui::SpinBox *start_value,*poles;
100 core::Time start_time,flight_start_time;
101 int time_sec;
102 float speed_av_g,speed_av_d,speed_ar_g,speed_ar_d;
103 float int_av_g,int_av_d,int_ar_g,int_ar_d;
104
105 //matrix
106 core::cvmatrix *input;
107 core::cvmatrix *output;
108
109 int tested_motor;
110 core::I2cPort* i2cport;
111 uint8_t slave_address;
112
113 bool enabled;
114
115 uint16_t SatPWM(float vel_cons,uint16_t min,uint16_t max);
116 };
117} // end namespace actuator
118} // end namespace flair
119#endif // BLCTRLV2_X4_SPEED_H
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