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