Fawkes API
Fawkes Development Version
motor_control_thread.h
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/***************************************************************************
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* motor_control_thread.h - Katana direct motor encoder/value control thread
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*
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* Created: Sun Mar 13 14:44:24 2011
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* Copyright 2011 Bahram Maleki-Fard
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_
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#define _PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_
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#include "motion_thread.h"
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class
KatanaMotorControlThread
:
public
KatanaMotionThread
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{
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public
:
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KatanaMotorControlThread
(
fawkes::RefPtr<fawkes::KatanaController>
katana,
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fawkes::Logger
* logger,
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unsigned
int
poll_interval_ms);
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virtual
void
set_encoder
(
unsigned
int
nr,
int
value,
bool
inc =
false
);
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virtual
void
set_angle
(
unsigned
int
nr,
float
value,
bool
inc =
false
);
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virtual
void
once
();
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/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
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protected
:
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virtual
void
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run
()
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{
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Thread::run();
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}
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private
:
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unsigned
int
nr_;
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int
encoder_;
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float
angle_;
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bool
is_encoder_, is_inc_;
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unsigned
int
poll_interval_usec_;
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};
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#endif
KatanaMotionThread
Definition:
motion_thread.h:35
fawkes::RefPtr< fawkes::KatanaController >
KatanaMotorControlThread::set_encoder
virtual void set_encoder(unsigned int nr, int value, bool inc=false)
Set target encoder value.
Definition:
motor_control_thread.cpp:59
KatanaMotorControlThread
Definition:
motor_control_thread.h:28
KatanaMotorControlThread::run
virtual void run()
Stub to see name in backtrace for easier debugging.
Definition:
motor_control_thread.h:49
fawkes::Logger
Definition:
logger.h:41
KatanaMotorControlThread::set_angle
virtual void set_angle(unsigned int nr, float value, bool inc=false)
Set target angle value.
Definition:
motor_control_thread.cpp:74
KatanaMotorControlThread::once
virtual void once()
Execute an action exactly once.
Definition:
motor_control_thread.cpp:84
KatanaMotorControlThread::KatanaMotorControlThread
KatanaMotorControlThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
Definition:
motor_control_thread.cpp:45
src
plugins
katana
motor_control_thread.h
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