Fawkes API Fawkes Development Version
motor_control_thread.h
1
2/***************************************************************************
3 * motor_control_thread.h - Katana direct motor encoder/value control thread
4 *
5 * Created: Sun Mar 13 14:44:24 2011
6 * Copyright 2011 Bahram Maleki-Fard
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_KATANA_MOTOR_CONTROL_THREAD_H_
24#define _PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_
25
26#include "motion_thread.h"
27
29{
30public:
32 fawkes::Logger * logger,
33 unsigned int poll_interval_ms);
34
35 virtual void set_encoder(unsigned int nr, int value, bool inc = false);
36 virtual void set_angle(unsigned int nr, float value, bool inc = false);
37
38 virtual void once();
39
40 /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
41protected:
42 virtual void
44 {
45 Thread::run();
46 }
47
48private:
49 unsigned int nr_;
50 int encoder_;
51 float angle_;
52
53 bool is_encoder_, is_inc_;
54 unsigned int poll_interval_usec_;
55};
56
57#endif
Katana motion thread base class.
Definition: motion_thread.h:36
Katana motor control thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
KatanaMotorControlThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
virtual void once()
Execute an action exactly once.
virtual void set_encoder(unsigned int nr, int value, bool inc=false)
Set target encoder value.
virtual void set_angle(unsigned int nr, float value, bool inc=false)
Set target angle value.
Interface for logging.
Definition: logger.h:42