source: flair-src/trunk/lib/FlairSensorActuator/src/XBldc_impl.cpp @ 3

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

sensoractuator

File size: 3.4 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:    2013/11/13
6//  filename:   XBldc_impl.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 Xufo
14//
15//
16/*********************************************************************/
17
18#include "XBldc_impl.h"
19#include "XBldc.h"
20#include <I2cPort.h>
21#include <cvmatrix.h>
22#include <string.h>
23
24#define BASE_ADDRESS 0x01
25#define MAX_VALUE 200
26
27using namespace flair::core;
28using namespace flair::gui;
29using namespace flair::actuator;
30
31XBldc_impl::XBldc_impl(XBldc* self,I2cPort* i2cport) {
32    this->self=self;
33        this->i2cport=i2cport;
34
35    i2cport->SetTxTimeout(5000000);
36}
37
38XBldc_impl::~XBldc_impl() {
39}
40
41void XBldc_impl::SetMotors(float* value) {
42    uint8_t tosend_value[5];
43
44    for(int i=0;i<4;i++) tosend_value[i]=(uint8_t)(MAX_VALUE*value[i]);
45
46    ssize_t written;
47    tosend_value[4]=0xaa;
48    for(int i=0;i<4;i++) tosend_value[4]+=tosend_value[i];
49    self->Err("please verify motors adresses\n");
50    //todo faire la procedure changement addresse par la station sol
51/*
52    i2cport->GetMutex();
53    i2cport->SetSlave(BASE_ADDRESS);
54
55    written =i2cport->Write(tosend_value, sizeof(tosend_value));
56    if(written<0)
57    {
58        self->Err("rt_dev_write error (%s)\n",strerror(-written));
59    }
60    else if (written != sizeof(tosend_value))
61    {
62        self->Err("rt_dev_write error %i/%i\n",written,sizeof(tosend_value));
63    }
64
65    i2cport->ReleaseMutex();*/
66
67}
68/*
69void XBldc_impl::StartTest(uint8_t moteur)
70{
71    unsigned char tx[4];
72    ssize_t written;
73
74    tx[0]=251;
75    tx[1]=moteur;
76    tx[2]=0;
77    tx[3]=231+moteur;
78
79    i2cport->GetMutex();
80    i2cport->SetSlave(BASE_ADDRESS);
81
82    written =i2cport->Write(tx, sizeof(tx));
83    if(written<0)
84    {
85        self->Err("rt_dev_write error (%s)\n",strerror(-written));
86    }
87    else if (written != sizeof(tx))
88    {
89        self->Err("rt_dev_write %i/%i error\n",written,sizeof(tx));
90    }
91
92    i2cport->ReleaseMutex();
93}
94*/
95void XBldc_impl::ChangeDirection(uint8_t moteur) {
96    unsigned char tx[4];
97    ssize_t written;
98
99    tx[0]=254;
100    tx[1]=moteur;
101    tx[2]=0;
102    tx[3]=234+moteur;
103
104    i2cport->GetMutex();
105    i2cport->SetSlave(BASE_ADDRESS);
106
107    written =i2cport->Write(tx, sizeof(tx));
108    if(written<0) {
109        self->Err("rt_dev_write (%s) error\n",strerror(-written));
110    } else if (written != sizeof(tx)) {
111        self->Err("rt_dev_write %i/%i error\n",written,sizeof(tx));
112    }
113
114    i2cport->ReleaseMutex();
115}
116
117void XBldc_impl::ChangeAdress(uint8_t old_add,uint8_t new_add) {
118    unsigned char tx[4];
119    ssize_t written;
120
121    tx[0]=250;
122    tx[1]=old_add;
123    tx[2]=new_add;
124    tx[3]=230+old_add+new_add;
125
126    i2cport->GetMutex();
127    i2cport->SetSlave(BASE_ADDRESS);
128
129    written =i2cport->Write(tx, sizeof(tx));
130    if(written<0) {
131        self->Err("rt_dev_write error (%s)\n",strerror(-written));
132    } else if (written != sizeof(tx)) {
133        self->Err("rt_dev_write error %i/%i\n",written,sizeof(tx));
134    }
135
136    i2cport->ReleaseMutex();
137}
138
139uint8_t XBldc_impl::Sat(float value,uint8_t min,uint8_t max) {
140  uint8_t sat_value=(uint8_t)value;
141
142  if(value>((float)sat_value+0.5)) sat_value++;
143
144  if(value<(float)min) sat_value=min;
145  if(value>(float)max) sat_value=max;
146
147  return sat_value;
148}
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