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 ParrotBldc.h
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7 | * \brief Class for Ardrone 2 Bldc
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2013/12/19
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef PARROTBLDC_H
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14 | #define PARROTBLDC_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 cvmatrix;
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24 | class SerialPort;
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25 | }
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26 | namespace gui
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27 | {
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28 | class Layout;
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29 | }
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30 | }
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31 |
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32 | class ParrotBldc_impl;
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33 |
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34 | namespace flair
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35 | {
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36 | namespace actuator
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37 | {
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38 | /*! \class ParrotBldc
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39 | *
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40 | * \brief Class for Ardrone 2 Bldc
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41 | */
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42 | class ParrotBldc : public Bldc
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43 | {
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44 | public:
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45 | /*!
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46 | * \brief Constructor
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47 | *
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48 | * Construct a ParrotBldc.
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49 | *
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50 | * \param parent parent
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51 | * \param layout layout
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52 | * \param name name
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53 | * \param serialport serialport
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54 | */
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55 | ParrotBldc(const core::IODevice* parent,gui::Layout* layout,std::string name,core::SerialPort* serialport);
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56 |
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57 | /*!
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58 | * \brief Destructor
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59 | *
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60 | */
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61 | ~ParrotBldc();
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62 |
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63 | /*!
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64 | * \brief Has speed measurement
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65 | *
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66 | * Reimplemented from Bldc. \n
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67 | *
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68 | * \return true if it has speed measurement
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69 | */
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70 | bool HasSpeedMeasurement(void) const{return false;};
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71 |
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72 | /*!
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73 | * \brief Has current measurement
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74 | *
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75 | * Reimplemented from Bldc. \n
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76 | *
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77 | * \return true if it has current measurement
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78 | */
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79 | bool HasCurrentMeasurement(void) const{return false;};
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80 |
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81 | private:
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82 | /*!
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83 | * \brief Set motors values
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84 | *
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85 | * Reimplemented from Bldc. \n
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86 | * Values size must be the same as MotorsCount()
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87 | *
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88 | * \param values motor values
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89 | */
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90 | void SetMotors(float* value);
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91 |
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92 | class ParrotBldc_impl* pimpl_;
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93 | };
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94 | } // end namespace actuator
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95 | } // end namespace framewor
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96 | #endif // PARROTBLDC_H
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