motor.h

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*  Software License Agreement (BSD License)
*  Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
*  All rights reserved.
*  Author:Zhao Cilang,Yan Fei,Zhuang Yan.
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#ifndef MOTOR_H
#define MOTOR_H

#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <errno.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <termios.h>
#include <stdlib.h>

#define TRANS_RATIO 180         //transmission ratio
#define STEP_DIS 1.8            //step angle
#define SUBDIVISION  0.25       //subdividing number

class Com
{
public:
  Com (int _comport)
  {
    m_fd_ = 0;
    m_comport_ = _comport;
  }                             //initialize the port,m_comport_ is the port number.
  ~Com ()
  {
  }

  void comOpen ();              //open the port
  void comSet (int n_speed, int n_bits, char c_event, int n_stop);      //set the port
  void comWrite (char *buf);    //write to the port
  void comClose ();             //close the port
private:
  int m_fd_;
  int m_comport_;
};

class Motor:public Com
{
public:
  Motor (int _port, char *_direction, int _frequence, int _degree):Com (_port)
  {
    if (strcmp (_direction, "0") == 0)
    {
      m_direction_ = '0';
    }
    if (strcmp (_direction, "1") == 0)
    {
      m_direction_ = '1';
    }
    m_degree_ = _degree;
    m_frequence_ = _frequence;
  }

  ~Motor ()
  {
  }
  
  int getPulseNum ();           //caculate the pulse number
  double motorMove ();          //get the motor to move
private:
  char m_direction_;
  int m_degree_;
  int m_frequence_;
};

#endif