motor.h

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#ifndef PHIDGETS_API_MOTOR_H
#define PHIDGETS_API_MOTOR_H
 
#include <functional>
 
#include <libphidget22/phidget22.h>
 
#include "phidgets_api/phidget22.h"
 
namespace phidgets {
 
class Motor final
{
  public:
    PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Motor)
 
    explicit Motor(int32_t serial_number, int hub_port, bool is_hub_port_device,
                   int channel,
                   std::function<void(int, double)> duty_cycle_change_handler,
                   std::function<void(int, double)> back_emf_change_handler);
 
    ~Motor();
 
    double getDutyCycle() const;
    void setDutyCycle(double duty_cycle) const;
    double getAcceleration() const;
    void setAcceleration(double acceleration) const;
    double getBackEMF() const;
    void setDataInterval(uint32_t data_interval_ms) const;
 
    double getBraking() const;
    void setBraking(double braking) const;
 
    void dutyCycleChangeHandler(double duty_cycle) const;
 
    void backEMFChangeHandler(double back_emf) const;
 
  private:
    int channel_;
    std::function<void(int, double)> duty_cycle_change_handler_;
    std::function<void(int, double)> back_emf_change_handler_;
    PhidgetDCMotorHandle motor_handle_;
 
    static void DutyCycleChangeHandler(PhidgetDCMotorHandle motor_handle,
                                       void *ctx, double duty_cycle);
    static void BackEMFChangeHandler(PhidgetDCMotorHandle motor_handle,
                                     void *ctx, double back_emf);
};
 
}  // namespace phidgets
 
#endif  // PHIDGETS_API_MOTOR_H