source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/XBldc_impl.h@ 4

Last change on this file since 4 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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