source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/BlCtrlV2_impl.h@ 3

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2011/09/13
//  filename:   BlCtrlV2_impl.h
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    objet integrant les moteurs i2c
//
//
/*********************************************************************/


#ifndef BLCTRLV2_IMPL_H
#define BLCTRLV2_IMPL_H

#include <stdint.h>
#include <Object.h>

#define MAX_MOTORS 8

namespace flair
{
    namespace core
    {
        class I2cPort;
    }
    namespace gui
    {
        class SpinBox;
        class GroupBox;
        class Layout;
    }
    namespace actuator
    {
        class BlCtrlV2;
    }
    namespace sensor
    {
        class BatteryMonitor;
    }
}

class BlCtrlV2_impl
{
    public:
        BlCtrlV2_impl(flair::actuator::BlCtrlV2* self,flair::gui::Layout *layout,flair::core::I2cPort* i2cport);
        ~BlCtrlV2_impl();
        void SetMotors(float* value);
        flair::sensor::BatteryMonitor *battery;
        flair::gui::SpinBox *poles;

    private:
        void WriteValue(uint16_t value);//I2cPort mutex must be taken before calling this function
        void DetectMotors(void);
        void GetCurrentSpeedAndVoltage(float &current,float &speed,float &voltage);//I2cPort mutex must be taken before calling this function
        void GetCurrentAndSpeed(float &current,float &speed);//I2cPort mutex must be taken before calling this function
        flair::core::Time last_voltage_time;
        int nb_mot;
        flair::core::I2cPort* i2cport;
        flair::actuator::BlCtrlV2* self;
};

#endif // BLCTRLV2_IMPL_H