source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/BlCtrlV2_impl.h@ 10

Last change on this file since 10 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 1.7 KB
RevLine 
[3]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: 2011/09/13
6// filename: BlCtrlV2_impl.h
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet integrant les moteurs i2c
14//
15//
16/*********************************************************************/
17
18
19#ifndef BLCTRLV2_IMPL_H
20#define BLCTRLV2_IMPL_H
21
22#include <stdint.h>
23#include <Object.h>
24
25#define MAX_MOTORS 8
26
27namespace flair
28{
29 namespace core
30 {
31 class I2cPort;
32 }
33 namespace gui
34 {
35 class SpinBox;
36 class GroupBox;
37 class Layout;
38 }
39 namespace actuator
40 {
41 class BlCtrlV2;
42 }
43 namespace sensor
44 {
45 class BatteryMonitor;
46 }
47}
48
49class BlCtrlV2_impl
50{
51 public:
52 BlCtrlV2_impl(flair::actuator::BlCtrlV2* self,flair::gui::Layout *layout,flair::core::I2cPort* i2cport);
53 ~BlCtrlV2_impl();
54 void SetMotors(float* value);
55 flair::sensor::BatteryMonitor *battery;
56 flair::gui::SpinBox *poles;
57
58 private:
59 void WriteValue(uint16_t value);//I2cPort mutex must be taken before calling this function
60 void DetectMotors(void);
61 void GetCurrentSpeedAndVoltage(float &current,float &speed,float &voltage);//I2cPort mutex must be taken before calling this function
62 void GetCurrentAndSpeed(float &current,float &speed);//I2cPort mutex must be taken before calling this function
63 flair::core::Time last_voltage_time;
64 int nb_mot;
65 flair::core::I2cPort* i2cport;
66 flair::actuator::BlCtrlV2* self;
67};
68
69#endif // BLCTRLV2_IMPL_H
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