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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,
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
run
() { Thread::run(); }
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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
src
plugins
katana
motor_control_thread.h
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