Changeset 15 in flair-src for trunk/lib/FlairSensorActuator/src/AfroBldc.h
- Timestamp:
- Apr 8, 2016, 3:40:57 PM (9 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairSensorActuator/src/AfroBldc.h
r3 r15 16 16 #include "Bldc.h" 17 17 18 namespace flair 19 { 20 namespace core 21 { 22 class FrameworkManager; 23 class I2cPort; 24 } 25 namespace sensor 26 { 27 class BatteryMonitor; 28 } 18 namespace flair { 19 namespace core { 20 class FrameworkManager; 21 class I2cPort; 22 } 23 namespace sensor { 24 class BatteryMonitor; 25 } 29 26 } 30 27 31 28 class AfroBldc_impl; 32 29 33 namespace flair 34 { 35 namespace actuator 36 { 37 /*! \class AfroBldc 38 * 39 * \brief Class for Mikrokopter's blctrlv2 40 * 41 * blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor(). 42 */ 43 class AfroBldc : public Bldc 44 { 45 friend class ::AfroBldc_impl; 30 namespace flair { 31 namespace actuator { 32 /*! \class AfroBldc 33 * 34 * \brief Class for Mikrokopter's blctrlv2 35 * 36 * blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor(). 37 */ 38 class AfroBldc : public Bldc { 39 friend class ::AfroBldc_impl; 46 40 47 public: 48 /*! 49 * \brief Constructor 50 * 51 * Construct a AfroBldc. 52 * 53 * \param parent parent 54 * \param layout layout 55 * \param name name 56 * \param motors_count number of motors 57 * \param i2cport I2cPort 58 */ 59 AfroBldc(const core::IODevice* parent,gui::Layout* layout,std::string name,uint8_t motors_count,core::I2cPort* i2cport); 41 public: 42 /*! 43 * \brief Constructor 44 * 45 * Construct a AfroBldc. 46 * 47 * \param parent parent 48 * \param layout layout 49 * \param name name 50 * \param motors_count number of motors 51 * \param i2cport I2cPort 52 */ 53 AfroBldc(const core::IODevice *parent, gui::Layout *layout, std::string name, 54 uint8_t motors_count, core::I2cPort *i2cport); 60 55 61 62 63 64 65 56 /*! 57 * \brief Destructor 58 * 59 */ 60 ~AfroBldc(); 66 61 67 68 69 70 71 72 73 74 bool HasSpeedMeasurement(void) const{return false;};62 /*! 63 * \brief Has speed measurement 64 * 65 * Reimplemented from Bldc. \n 66 * 67 * \return true if it has speed measurement 68 */ 69 bool HasSpeedMeasurement(void) const { return false; }; 75 70 76 77 78 79 80 81 82 83 bool HasCurrentMeasurement(void) const{return false;};71 /*! 72 * \brief Has current measurement 73 * 74 * Reimplemented from Bldc. \n 75 * 76 * \return true if it has current measurement 77 */ 78 bool HasCurrentMeasurement(void) const { return false; }; 84 79 85 86 87 88 89 90 91 92 93 94 void SetMotors(float*values);80 private: 81 /*! 82 * \brief Set motors values 83 * 84 * Reimplemented from Bldc. \n 85 * Values size must be the same as MotorsCount() 86 * 87 * \param values motor values 88 */ 89 void SetMotors(float *values); 95 90 96 class AfroBldc_impl*pimpl_;97 91 class AfroBldc_impl *pimpl_; 92 }; 98 93 } // end namespace actuator 99 94 } // end namespace flair
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