source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/XBldc_impl.h@ 167

Last change on this file since 167 was 15, checked in by Bayard Gildas, 6 years ago

sources reformatted with flair-format-dir script

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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2013/11/13
6// filename: XBldc_impl.h
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet integrant les moteurs i2c Xufo
14//
15//
16/*********************************************************************/
17
18#ifndef XBLDC_IMPL_H
19#define XBLDC_IMPL_H
20
21#include <IODevice.h>
22#include <stdint.h>
23
24namespace flair {
25namespace core {
26class I2cPort;
27}
28namespace actuator {
29class XBldc;
30}
31}
32
33class XBldc_impl {
34
35public:
36 XBldc_impl(flair::actuator::XBldc *self, flair::core::I2cPort *i2cport);
37 ~XBldc_impl();
38 void UpdateFrom(flair::core::io_data *data);
39 void SetMotors(float *value);
40
41private:
42 uint8_t Sat(float value, uint8_t min, uint8_t max);
43 // void StartTest(uint8_t moteur);
44 void ChangeDirection(uint8_t moteur);
45 void ChangeAdress(uint8_t old_add, uint8_t new_add);
46 flair::actuator::XBldc *self;
47 flair::core::I2cPort *i2cport;
48};
49
50#endif // XBLDC_IMPL_H
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