source: flair-src/trunk/lib/FlairSensorActuator/src/SimuBldc.h@ 224

Last change on this file since 224 was 224, checked in by Sanahuja Guillaume, 4 years ago

maj for armv5te

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 SimuBldc.h
7 * \brief Class for a simulation bldc
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/02/07
10 * \version 4.0
11 */
12
13#ifndef SIMUBLDC_H
14#define SIMUBLDC_H
15
16#include <Bldc.h>
17
18namespace flair {
19namespace core {
20class SharedMem;
21class IODevice;
22class Matrix;
23}
24namespace gui {
25class DoubleSpinBox;
26class Layout;
27}
28}
29
30namespace flair {
31namespace actuator {
32/*! \class SimuBldc
33*
34* \brief Class for a simulation bldc
35*
36*/
37class SimuBldc : public Bldc {
38public:
39 /*!
40 * \brief Constructor
41 *
42 * Construct a SimuBldc
43 *
44 * \param parent parent
45 * \param layout layout
46 * \param name name
47 * \param motors_count number of motors
48 * \param modelId Model id
49 * \param deviceId Bldc id of the Model
50 */
51 SimuBldc(const core::IODevice *parent, gui::Layout *layout, std::string name,
52 uint8_t motors_count, uint32_t modelId,uint32_t deviceId);
53
54 /*!
55 * \brief Destructor
56 *
57 */
58 ~SimuBldc();
59
60 /*!
61 * \brief Has speed measurement
62 *
63 * Reimplemented from Bldc. \n
64 *
65 * \return true if it has speed measurement
66 */
67 bool HasSpeedMeasurement(void) const { return false; };
68
69 /*!
70 * \brief Has current measurement
71 *
72 * Reimplemented from Bldc. \n
73 *
74 * \return true if it has current measurement
75 */
76 bool HasCurrentMeasurement(void) const { return false; };
77
78private:
79 /*!
80 * \brief Set motors values
81 *
82 * Reimplemented from Bldc. \n
83 * Values size must be the same as MotorsCount()
84 *
85 * \param values motor values
86 */
87 void SetMotors(float *value);
88
89 std::string ShMemName(uint32_t modelId,uint32_t deviceId);
90 core::SharedMem *shmem;
91 gui::DoubleSpinBox *k;
92 char *buf;
93
94};
95} // end namespace actuator
96} // end namespace flair
97#endif // SIMUBLDC_H
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