Program Listing for File motor.hpp
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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
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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*/
#ifndef PHIDGETS_API_MOTOR_HPP
#define PHIDGETS_API_MOTOR_HPP
#include <functional>
#include <libphidget22/phidget22.h>
#include "phidgets_api/phidget22.hpp"
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();
int32_t getSerialNumber() const noexcept;
double getDutyCycle() const;
void setDutyCycle(double duty_cycle) const;
double getAcceleration() const;
void setAcceleration(double acceleration) const;
bool backEMFSensingSupported() 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:
int32_t serial_number_;
int channel_;
std::function<void(int, double)> duty_cycle_change_handler_;
std::function<void(int, double)> back_emf_change_handler_;
PhidgetDCMotorHandle motor_handle_{nullptr};
bool back_emf_sensing_supported_;
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_HPP