Fawkes API  Fawkes Development Version
biward_drive_mode.h
1 
2 /***************************************************************************
3  * slow_biward_drive_mode.h - Implementation of drive-mode "slow forward + backward"
4  *
5  * Created: Fri Oct 18 15:16:23 2013
6  * Copyright 2002 Stefan Jacobs
7  * 2013-2014 Bahram Maleki-Fard
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_COLLI_BIWARD_DRIVE_MODE_H_
24 #define __PLUGINS_COLLI_BIWARD_DRIVE_MODE_H_
25 
26 #include "abstract_drive_mode.h"
27 
28 namespace fawkes
29 {
30 #if 0 /* just to make Emacs auto-indent happy */
31 }
32 #endif
33 
34 class ForwardDriveModule;
35 class BackwardDriveModule;
36 
38 {
39  public:
41  BackwardDriveModule* backward,
42  Logger* logger,
43  Configuration* config);
45 
46  void update();
47 
48  private:
49  ForwardDriveModule* mod_forward_;
50  BackwardDriveModule* mod_backward_;
51 
52  int count_forward_;
53 };
54 
55 } // namespace fawkes
56 
57 #endif
Fawkes library namespace.
BiwardDriveModule(ForwardDriveModule *forward, BackwardDriveModule *backward, Logger *logger, Configuration *config)
Constructor.
~BiwardDriveModule()
Destruct your local values here.
This is the Forward drive-module, for forward only movements.
This is the base class which calculates drive modes.
This is the SlowBackward drive-module, for slow backward only movements.
void update()
Calculate here your desired settings.
Interface for configuration handling.
Definition: config.h:67
This is the SlowBiward drive-module.
Interface for logging.
Definition: logger.h:34