23 #ifndef __PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_ 24 #define __PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_ 26 #include "motion_thread.h" 32 unsigned int poll_interval_ms);
34 virtual void set_encoder(
unsigned int nr,
int value,
bool inc=
false);
35 virtual void set_angle(
unsigned int nr,
float value,
bool inc=
false);
41 virtual void run() { Thread::run(); }
48 bool __is_encoder, __is_inc;
49 unsigned int __poll_interval_usec;
virtual void once()
Execute an action exactly once.
Katana motor control thread.
Katana motion thread base class.
KatanaMotorControlThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual void set_angle(unsigned int nr, float value, bool inc=false)
Set target angle value.
virtual void set_encoder(unsigned int nr, int value, bool inc=false)
Set target encoder value.