source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/XBldc_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:    2013/11/13
//  filename:   XBldc_impl.h
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    objet integrant les moteurs i2c Xufo
//
//
/*********************************************************************/


#ifndef XBLDC_IMPL_H
#define XBLDC_IMPL_H

#include <IODevice.h>
#include <stdint.h>

namespace flair
{
    namespace core
    {
        class I2cPort;
    }
    namespace actuator
    {
        class XBldc;
    }
}


class XBldc_impl
{

    public:
        XBldc_impl(flair::actuator::XBldc* self,flair::core::I2cPort* i2cport);
        ~XBldc_impl();
        void UpdateFrom(flair::core::io_data *data);
        void SetMotors(float* value);

    private:
        uint8_t Sat(float value,uint8_t min,uint8_t max);
        //void StartTest(uint8_t moteur);
        void ChangeDirection(uint8_t moteur);
        void ChangeAdress(uint8_t old_add,uint8_t new_add);
        flair::actuator::XBldc* self;
        flair::core::I2cPort* i2cport;
};

#endif // XBLDC_IMPL_H