Last change
on this file since 3 was 3, checked in by Sanahuja Guillaume, 8 years ago |
sensoractuator
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File size:
1.2 KB
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[3] | 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: 2013/11/13
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| 6 | // filename: XBldc_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 Xufo
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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 |
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| 19 | #ifndef XBLDC_IMPL_H
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| 20 | #define XBLDC_IMPL_H
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| 21 |
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| 22 | #include <IODevice.h>
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| 23 | #include <stdint.h>
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| 24 |
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| 25 | namespace flair
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| 26 | {
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| 27 | namespace core
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| 28 | {
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| 29 | class I2cPort;
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| 30 | }
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| 31 | namespace actuator
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| 32 | {
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| 33 | class XBldc;
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| 34 | }
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| 35 | }
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| 36 |
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| 37 |
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| 38 | class XBldc_impl
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| 39 | {
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| 40 |
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| 41 | public:
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| 42 | XBldc_impl(flair::actuator::XBldc* self,flair::core::I2cPort* i2cport);
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| 43 | ~XBldc_impl();
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| 44 | void UpdateFrom(flair::core::io_data *data);
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| 45 | void SetMotors(float* value);
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| 46 |
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| 47 | private:
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| 48 | uint8_t Sat(float value,uint8_t min,uint8_t max);
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| 49 | //void StartTest(uint8_t moteur);
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| 50 | void ChangeDirection(uint8_t moteur);
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| 51 | void ChangeAdress(uint8_t old_add,uint8_t new_add);
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| 52 | flair::actuator::XBldc* self;
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| 53 | flair::core::I2cPort* i2cport;
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| 54 | };
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| 55 |
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| 56 | #endif // XBLDC_IMPL_H
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