Fawkes API  Fawkes Development Version
motor_control_thread.h
00001 
00002 /***************************************************************************
00003  *  motor_control_thread.h - Katana direct motor encoder/value control thread
00004  *
00005  *  Created: Sun Mar 13 14:44:24 2011
00006  *  Copyright  2011  Bahram Maleki-Fard
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #ifndef __PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_
00024 #define __PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_
00025 
00026 #include "motion_thread.h"
00027 
00028 class KatanaMotorControlThread : public KatanaMotionThread
00029 {
00030  public:
00031   KatanaMotorControlThread(fawkes::RefPtr<fawkes::KatanaController> katana, fawkes::Logger *logger,
00032                    unsigned int poll_interval_ms);
00033 
00034   virtual void set_encoder(unsigned int nr, int value, bool inc=false);
00035   virtual void set_angle(unsigned int nr, float value, bool inc=false);
00036 
00037   virtual void once();
00038 
00039  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00040  protected:
00041   virtual void run() { Thread::run(); }
00042 
00043  private:
00044   unsigned int __nr;
00045   int __encoder;
00046   float __angle;
00047 
00048   bool __is_encoder, __is_inc;
00049   unsigned int __poll_interval_usec;
00050 };
00051 
00052 
00053 #endif