Fawkes API
Fawkes Development Version
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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