Changeset 15 in flair-src for trunk/lib/FlairSensorActuator/src/BlCtrlV2.h
- Timestamp:
- 04/08/16 15:40:57 (8 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairSensorActuator/src/BlCtrlV2.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 BlCtrlV2_impl; 32 29 33 namespace flair 34 { 35 namespace actuator 36 { 37 /*! \class BlCtrlV2 38 * 39 * \brief Class for Mikrokopter's blctrlv2 40 * 41 * blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor(). 42 */ 43 class BlCtrlV2 : public Bldc 44 { 45 friend class ::BlCtrlV2_impl; 30 namespace flair { 31 namespace actuator { 32 /*! \class BlCtrlV2 33 * 34 * \brief Class for Mikrokopter's blctrlv2 35 * 36 * blctrlv2 drivers can also monitor the battery level. See GetBatteryMonitor(). 37 */ 38 class BlCtrlV2 : public Bldc { 39 friend class ::BlCtrlV2_impl; 46 40 47 public: 48 /*! 49 * \brief Constructor 50 * 51 * Construct a BlCtrlV2. 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 BlCtrlV2(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 BlCtrlV2. 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 BlCtrlV2(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 ~BlCtrlV2(); 66 61 67 68 69 70 71 72 sensor::BatteryMonitor*GetBatteryMonitor(void) const;62 /*! 63 * \brief Get battery monitor 64 * 65 * \return BatteryMonitor 66 */ 67 sensor::BatteryMonitor *GetBatteryMonitor(void) const; 73 68 74 75 76 77 78 79 80 81 bool HasSpeedMeasurement(void) const{return true;};69 /*! 70 * \brief Has speed measurement 71 * 72 * Reimplemented from Bldc. \n 73 * 74 * \return true if it has speed measurement 75 */ 76 bool HasSpeedMeasurement(void) const { return true; }; 82 77 83 84 85 86 87 88 89 90 bool HasCurrentMeasurement(void) const{return true;};78 /*! 79 * \brief Has current measurement 80 * 81 * Reimplemented from Bldc. \n 82 * 83 * \return true if it has current measurement 84 */ 85 bool HasCurrentMeasurement(void) const { return true; }; 91 86 92 93 94 95 96 97 98 99 100 101 void SetMotors(float*values);87 private: 88 /*! 89 * \brief Set motors values 90 * 91 * Reimplemented from Bldc. \n 92 * Values size must be the same as MotorsCount() 93 * 94 * \param values motor values 95 */ 96 void SetMotors(float *values); 102 97 103 class BlCtrlV2_impl*pimpl_;104 98 class BlCtrlV2_impl *pimpl_; 99 }; 105 100 } // end namespace actuator 106 101 } // end namespace flair
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