00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2013, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 00037 //\Author Kai Franke, Robert Bosch LLC 00038 00039 #ifndef PWM_Driver_H_ 00040 #define PWM_Driver_H_ 00041 00042 // ROS headers for debugging output 00043 #include <ros/console.h> 00044 #include <bosch_drivers_common.hpp> 00045 #include <bosch_drivers_sensor_driver.hpp> 00046 #include <bosch_drivers_hardware_interface.hpp> 00047 00048 using namespace bosch_drivers_common; 00049 00057 class PwmDriver: public sensor_driver 00058 { 00059 00060 public: 00066 PwmDriver( bosch_hardware_interface* hw, uint32_t frequency, uint8_t pin ); 00067 00068 // Destructor: 00069 ~PwmDriver(); 00070 00071 // Public Driver Methods: 00072 uint8_t getDeviceAddress( void ); 00073 00079 bool set( float value ); 00080 00086 bool initialize(); 00087 00088 private: 00089 uint32_t _frequency; 00090 uint8_t _pin; 00091 }; 00092 00093 #endif // PWM_Driver_H_ 00094