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: 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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24 | namespace flair {
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25 | namespace core {
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26 | class I2cPort;
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27 | }
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28 | namespace actuator {
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29 | class XBldc;
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30 | }
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31 | }
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32 |
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33 | class XBldc_impl {
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34 |
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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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40 |
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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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48 | };
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49 |
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50 | #endif // XBLDC_IMPL_H
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