Last change
on this file since 50 was 15, checked in by Bayard Gildas, 8 years ago |
sources reformatted with flair-format-dir script
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File size:
1.1 KB
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[3] | 1 | // %flair:license{
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[15] | 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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[3] | 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 | #ifndef XBLDC_IMPL_H
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| 19 | #define XBLDC_IMPL_H
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| 20 |
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| 21 | #include <IODevice.h>
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| 22 | #include <stdint.h>
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| 23 |
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[15] | 24 | namespace flair {
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| 25 | namespace core {
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| 26 | class I2cPort;
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[3] | 27 | }
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[15] | 28 | namespace actuator {
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| 29 | class XBldc;
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| 30 | }
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| 31 | }
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[3] | 32 |
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[15] | 33 | class XBldc_impl {
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[3] | 34 |
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[15] | 35 | public:
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| 36 | XBldc_impl(flair::actuator::XBldc *self, flair::core::I2cPort *i2cport);
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| 37 | ~XBldc_impl();
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| 38 | void UpdateFrom(flair::core::io_data *data);
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| 39 | void SetMotors(float *value);
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[3] | 40 |
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[15] | 41 | private:
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| 42 | uint8_t Sat(float value, uint8_t min, uint8_t max);
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| 43 | // void StartTest(uint8_t moteur);
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| 44 | void ChangeDirection(uint8_t moteur);
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| 45 | void ChangeAdress(uint8_t old_add, uint8_t new_add);
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| 46 | flair::actuator::XBldc *self;
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| 47 | flair::core::I2cPort *i2cport;
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[3] | 48 | };
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| 49 |
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| 50 | #endif // XBLDC_IMPL_H
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