phidgets_api: motor.h Source File

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00001 #ifndef PHIDGETS_API_MOTOR_H
00002 #define PHIDGETS_API_MOTOR_H
00003 
00004 #include "phidgets_api/phidget.h"
00005 
00006 namespace phidgets
00007 {
00008 
00009 class MotorController: public Phidget
00010 {
00011 public:
00012   MotorController();
00013 
00014   // Motor specific
00015   int    getMotorCount();
00016   double getVelocity(int index);
00017   void   setVelocity(int index, double velocity);
00018   double getAcceleration(int index);
00019   void   setAcceleration(int index, double acceleration);
00020   double getAccelerationMax(int index);
00021   double getAccelerationMin(int index);
00022   double getCurrent(int index);
00023 
00024   // Digital inputs
00025   int  getInputCount();
00026   bool getInputState(int index);
00027 
00028   // Encoder inputs
00029   int  getEncoderCount();
00030   int  getEncoderPosition(int index);
00031   void setEncoderPosition(int index, int position);
00032 
00033   // Back EMF
00034   int    getBackEMFSensingState(int index);
00035   void   setBackEMFSensingState(int index, int bEMFState);
00036   double getBackEMF(int index);
00037 
00038   double getSupplyVoltage();
00039 
00040   double getBraking(int index);
00041   void   setBraking(int index, double braking);
00042 
00043   // Analog sensors
00044   int getSensorCount();
00045   int getSensorValue(int index);
00046   int getSensorRawValue(int index);
00047 
00048   int  getRatiometric();
00049   void setRatiometric(int ratiometric);
00050 
00051 protected:
00052   CPhidgetMotorControlHandle motor_handle_;
00053 
00054   virtual void velocityChangeHandler(int index, double velocity);
00055   virtual void currentChangeHandler(int index, double current);
00056   virtual void inputChangeHandler(int index, int inputState);
00057   virtual void encoderPositionChangeHandler(int index, int time, int positionChange);
00058   virtual void encoderPositionUpdateHandler(int index, int positionChange);
00059   virtual void backEMFUpdateHandler(int index, double voltage);
00060   virtual void sensorUpdateHandler(int index, int sensorValue);
00061   virtual void currentUpdateHandler(int index, double current);
00062 
00063 private:
00064   static int VelocityChangeHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, double velocity);
00065   static int CurrentChangeHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current);
00066   static int InputChangeHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, int inputState);
00067   static int EncoderPositionChangeHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, int time, int positionChange);
00068   static int EncoderPositionUpdateHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, int positionChange);
00069   static int BackEMFUpdateHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, double voltage);
00070   static int SensorUpdateHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, int sensorValue);
00071   static int CurrentUpdateHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current);
00072 };
00073 
00074 } //namespace phidgets
00075 
00076 #endif // PHIDGETS_API_MOTOR_H