[3] | 1 | // %flair:license{
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[15] | 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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[3] | 4 | // %flair:license}
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| 5 | /*!
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| 6 | * \file Bldc.h
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| 7 | * \brief Base class for brushless motors drivers
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| 8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 9 | * \date 2013/11/14
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| 10 | * \version 4.0
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| 11 | */
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| 12 |
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| 13 | #ifndef BLDC_H
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| 14 | #define BLDC_H
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| 15 |
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| 16 | #include <IODevice.h>
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| 17 | #include <stdint.h>
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| 18 |
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[15] | 19 | namespace flair {
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| 20 | namespace core {
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[214] | 21 | class Matrix;
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[3] | 22 | }
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[15] | 23 | namespace gui {
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| 24 | class Layout;
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| 25 | class TabWidget;
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| 26 | }
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| 27 | }
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[3] | 28 |
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| 29 | class Bldc_impl;
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| 30 |
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[15] | 31 | namespace flair {
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| 32 | namespace actuator {
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| 33 | /*! \class Bldc
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| 34 | *
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| 35 | * \brief Base class for brushless motors drivers
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| 36 | */
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| 37 | class Bldc : public core::IODevice {
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| 38 | friend class ::Bldc_impl;
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[3] | 39 |
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[15] | 40 | public:
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| 41 | /*!
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| 42 | * \brief Constructor
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| 43 | *
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| 44 | * Construct a Bldc.
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| 45 | *
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| 46 | * \param parent parent
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| 47 | * \param layout layout
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| 48 | * \param name name
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| 49 | * \param motors_count number of motors
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| 50 | */
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| 51 | Bldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
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| 52 | uint8_t motors_count);
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[3] | 53 |
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[15] | 54 | /*!
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| 55 | * \brief Destructor
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| 56 | *
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| 57 | */
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| 58 | ~Bldc();
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[3] | 59 |
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[15] | 60 | /*!
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| 61 | * \brief Lock user interface
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| 62 | *
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| 63 | */
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| 64 | void LockUserInterface(void) const;
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[3] | 65 |
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[15] | 66 | /*!
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| 67 | * \brief Unlock user interface
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| 68 | *
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| 69 | */
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| 70 | void UnlockUserInterface(void) const;
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[3] | 71 |
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[15] | 72 | /*!
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| 73 | * \brief Use default plot
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| 74 | *
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| 75 | * \param tabwidget TabWidget to draw plots
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| 76 | */
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| 77 | void UseDefaultPlot(gui::TabWidget *tabwidget);
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[3] | 78 |
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[15] | 79 | /*!
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| 80 | * \brief Output from motors
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| 81 | *
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| 82 | * First column is real speed if available, secund column is current if
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| 83 | *available
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| 84 | *
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| 85 | */
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[214] | 86 | core::Matrix *Output(void) const;
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[3] | 87 |
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[15] | 88 | /*!
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| 89 | * \brief Motors count
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| 90 | *
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| 91 | * \return number of motors
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| 92 | */
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| 93 | uint8_t MotorsCount(void) const;
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[3] | 94 |
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[15] | 95 | /*!
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| 96 | * \brief Enable motors
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| 97 | *
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| 98 | * \param true to enable all motors
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| 99 | */
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| 100 | void SetEnabled(bool status);
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[3] | 101 |
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[15] | 102 | /*!
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| 103 | * \brief Are motors enabled?
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| 104 | *
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| 105 | * \return true if motors are enabled
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| 106 | */
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| 107 | bool AreEnabled(void) const;
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[3] | 108 |
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[15] | 109 | /*!
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| 110 | * \brief Set motor power
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| 111 | *
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| 112 | * Changes the power (from 0 to 1) of a specific motor. \n
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| 113 | * By default power is set to 1 for each motor which has no effect. \n
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| 114 | * A value <1 will decrease the power of a motor sent to the reimplemented Bldc
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| 115 | *class through SetMotors. \n
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| 116 | * The power value is applied after applying saturation between min value and
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| 117 | *max value.
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| 118 | * So the resulting value cannot be higher than max value
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| 119 | * but it can be lower than min value.
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| 120 | *
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| 121 | * \param motor_id id of the motor
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| 122 | * \param value power value (from 0 to 1)
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| 123 | *
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| 124 | */
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| 125 | void SetPower(int motor_id, float value);
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[3] | 126 |
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[15] | 127 | /*!
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| 128 | * \brief Layout
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| 129 | *
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| 130 | * This the same Layout as passed to the constructor
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| 131 | *
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| 132 | * \return a Layout
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| 133 | */
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| 134 | gui::Layout *GetLayout(void) const;
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[3] | 135 |
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[15] | 136 | /*!
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| 137 | * \brief Has speed measurement
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| 138 | *
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| 139 | * \return true if it has speed measurement
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| 140 | */
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| 141 | virtual bool HasSpeedMeasurement(void) const = 0;
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[3] | 142 |
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[15] | 143 | /*!
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| 144 | * \brief Has current measurement
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| 145 | *
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| 146 | * \return true if it has current measurement
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| 147 | */
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| 148 | virtual bool HasCurrentMeasurement(void) const = 0;
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[3] | 149 |
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[15] | 150 | protected:
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[214] | 151 | core::Matrix *output;
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[3] | 152 |
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[15] | 153 | private:
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| 154 | /*!
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| 155 | * \brief Update using provided datas
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| 156 | *
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| 157 | * Reimplemented from IODevice.
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| 158 | *
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| 159 | * \param data data from the parent to process
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| 160 | */
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| 161 | void UpdateFrom(const core::io_data *data);
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[3] | 162 |
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[15] | 163 | /*!
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| 164 | * \brief Set motors values
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| 165 | *
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| 166 | * values size must be the same as MotorsCount()
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| 167 | *
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| 168 | * \param values set motors values
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| 169 | */
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| 170 | virtual void SetMotors(float *values) = 0;
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[3] | 171 |
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[15] | 172 | class Bldc_impl *pimpl_;
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| 173 | };
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[3] | 174 | } // end namespace actuator
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[170] | 175 | } // end namespace flair
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[3] | 176 | #endif // BLDC_H
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