source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/XBldc_impl.h @ 3

Last change on this file since 3 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

File size: 1.2 KB
Line 
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
19#ifndef XBLDC_IMPL_H
20#define XBLDC_IMPL_H
21
22#include <IODevice.h>
23#include <stdint.h>
24
25namespace flair
26{
27    namespace core
28    {
29        class I2cPort;
30    }
31    namespace actuator
32    {
33        class XBldc;
34    }
35}
36
37
38class XBldc_impl
39{
40
41    public:
42        XBldc_impl(flair::actuator::XBldc* self,flair::core::I2cPort* i2cport);
43        ~XBldc_impl();
44        void UpdateFrom(flair::core::io_data *data);
45        void SetMotors(float* value);
46
47    private:
48        uint8_t Sat(float value,uint8_t min,uint8_t max);
49        //void StartTest(uint8_t moteur);
50        void ChangeDirection(uint8_t moteur);
51        void ChangeAdress(uint8_t old_add,uint8_t new_add);
52        flair::actuator::XBldc* self;
53        flair::core::I2cPort* i2cport;
54};
55
56#endif // XBLDC_IMPL_H
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