motor.h

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#ifndef PHIDGETS_API_MOTOR_H
#define PHIDGETS_API_MOTOR_H

#include "phidgets_api/phidget.h"

namespace phidgets
{

class MotorController: public Phidget
{
public:
  MotorController();

  // Motor specific
  int    getMotorCount();
  double getVelocity(int index);
  void   setVelocity(int index, double velocity);
  double getAcceleration(int index);
  void   setAcceleration(int index, double acceleration);
  double getAccelerationMax(int index);
  double getAccelerationMin(int index);
  double getCurrent(int index);

  // Digital inputs
  int  getInputCount();
  bool getInputState(int index);

  // Encoder inputs
  int  getEncoderCount();
  int  getEncoderPosition(int index);
  void setEncoderPosition(int index, int position);

  // Back EMF
  int    getBackEMFSensingState(int index);
  void   setBackEMFSensingState(int index, int bEMFState);
  double getBackEMF(int index);

  double getSupplyVoltage();

  double getBraking(int index);
  void   setBraking(int index, double braking);

  // Analog sensors
  int getSensorCount();
  int getSensorValue(int index);
  int getSensorRawValue(int index);

  int  getRatiometric();
  void setRatiometric(int ratiometric);

protected:
  CPhidgetMotorControlHandle motor_handle_;

  virtual void velocityChangeHandler(int index, double velocity);
  virtual void currentChangeHandler(int index, double current);
  virtual void inputChangeHandler(int index, int inputState);
  virtual void encoderPositionChangeHandler(int index, int time, int positionChange);
  virtual void encoderPositionUpdateHandler(int index, int positionChange);
  virtual void backEMFUpdateHandler(int index, double voltage);
  virtual void sensorUpdateHandler(int index, int sensorValue);
  virtual void currentUpdateHandler(int index, double current);

private:
  static int VelocityChangeHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, double velocity);
  static int CurrentChangeHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current);
  static int InputChangeHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, int inputState);
  static int EncoderPositionChangeHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, int time, int positionChange);
  static int EncoderPositionUpdateHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, int positionChange);
  static int BackEMFUpdateHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, double voltage);
  static int SensorUpdateHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, int sensorValue);
  static int CurrentUpdateHandler(CPhidgetMotorControlHandle phid, void *userPtr, int index, double current);
};

} //namespace phidgets

#endif // PHIDGETS_API_MOTOR_H