motors.hpp

Go to the documentation of this file.

/**************************************************************************
 *  Copyright 2012 KISS Institute for Practical Robotics                  *
 *                                                                        *
 *  This file is part of libkovan.                                        *
 *                                                                        *
 *  libkovan is free software: you can redistribute it and/or modify      *
 *  it under the terms of the GNU General Public License as published by  *
 *  the Free Software Foundation, either version 2 of the License, or     *
 *  (at your option) any later version.                                   *
 *                                                                        *
 *  libkovan is distributed in the hope that it will be useful,           *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *  GNU General Public License for more details.                          *
 *                                                                        *
 *  You should have received a copy of the GNU General Public License     *
 *  along with libkovan. Check the LICENSE file in the project root.      *
 *  If not, see <http://www.gnu.org/licenses/>.                           *
 **************************************************************************/

#ifndef _MOTORS_HPP_
#define _MOTORS_HPP_

#include "port.hpp"
#include "sensor.hpp"
#include "export.h"

class EXPORT_SYM Motor
{
public:
        Motor(const port_t& port) throw();
        
        void clearPositionCounter();
        
        void moveAtVelocity(const short& velocity);
        void moveToPosition(const short& speed, const int& goalPos);
        void moveRelativePosition(const short& speed, const int& deltaPos);
        
#ifndef SWIG
        void setPidGains(const short& p, const short& i, const short& d, const short& pd, const short& id, const short& dd);
        void pidGains(short& p, short& i, short& d, short& pd, short& id, short& dd) const;
#endif
        
        void freeze();
        
        bool isMotorDone() const;
        
        void blockMotorDone() const;

        void forward();
        
        void backward();
        
        void motor(int percent);
        
        void off();
        
        const port_t& port() const;
        
private:
        port_t m_port;
};

class EXPORT_SYM BackEMF : public Sensor<int>
{
public:
        BackEMF(const unsigned char& port);
        virtual int value() const;
        unsigned char port() const;
        
private:
        unsigned char m_port;
};

#endif