Fawkes API
Fawkes Development Version
Main Page
Related Pages
Modules
Namespaces
Classes
Files
File List
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
joystick_thread.h
1
2
/***************************************************************************
3
* joystick_thread.h - Robotino joystick thread
4
*
5
* Created: Sun Nov 13 23:22:29 2011
6
* Copyright 2011 Tim Niemueller [www.niemueller.de]
7
*
8
****************************************************************************/
9
10
/* This program is free software; you can redistribute it and/or modify
11
* it under the terms of the GNU General Public License as published by
12
* the Free Software Foundation; either version 2 of the License, or
13
* (at your option) any later version.
14
*
15
* This program is distributed in the hope that it will be useful,
16
* but WITHOUT ANY WARRANTY; without even the implied warranty of
17
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18
* GNU Library General Public License for more details.
19
*
20
* Read the full text in the LICENSE.GPL file in the doc directory.
21
*/
22
23
#ifndef __PLUGINS_ROBOTINO_ACT_THREAD_H_
24
#define __PLUGINS_ROBOTINO_ACT_THREAD_H_
25
26
#include <core/threading/thread.h>
27
#include <aspect/blocked_timing.h>
28
#include <aspect/logging.h>
29
#include <aspect/configurable.h>
30
#include <aspect/blackboard.h>
31
32
#include <string>
33
34
namespace
fawkes {
35
class
MotorInterface;
36
class
JoystickInterface;
37
}
38
39
class
RobotinoJoystickThread
40
:
public
fawkes::Thread
,
41
public
fawkes::BlockedTimingAspect
,
42
public
fawkes::LoggingAspect
,
43
public
fawkes::ConfigurableAspect
,
44
public
fawkes::BlackBoardAspect
45
{
46
public
:
47
RobotinoJoystickThread
();
48
49
virtual
void
init
();
50
virtual
void
loop
();
51
virtual
bool
prepare_finalize_user
();
52
virtual
void
finalize
();
53
54
/** Stub to see name in backtrace for easier debugging. @see Thread::run() */
55
protected
:
virtual
void
run
() { Thread::run(); }
56
57
private
:
58
void
stop();
59
void
send_transrot(
float
vx,
float
vy,
float
omega);
60
61
private
:
62
fawkes::MotorInterface
*motor_if_;
63
fawkes::JoystickInterface
*joystick_if_;
64
65
unsigned
int
cfg_axis_forward_;
66
unsigned
int
cfg_axis_sideward_;
67
unsigned
int
cfg_axis_rotation_;
68
float
cfg_max_vx_;
69
float
cfg_max_vy_;
70
float
cfg_max_omega_;
71
};
72
73
74
#endif
src
plugins
robotino
joystick_thread.h
Generated by
1.8.3.1