Program Listing for File motors.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
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef PHIDGETS_API_MOTORS_HPP
#define PHIDGETS_API_MOTORS_HPP

#include <functional>
#include <memory>
#include <vector>

#include "phidgets_api/motor.hpp"
#include "phidgets_api/phidget22.hpp"

namespace phidgets {

class Motors final
{
  public:
    PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Motors)

    explicit Motors(int32_t serial_number, int hub_port,
                    bool is_hub_port_device,
                    std::function<void(int, double)> duty_cycle_change_handler,
                    std::function<void(int, double)> back_emf_change_handler);

    ~Motors() = default;

    int32_t getSerialNumber() const noexcept;

    uint32_t getMotorCount() const noexcept;
    double getDutyCycle(int index) const;
    void setDutyCycle(int index, double duty_cycle) const;
    double getAcceleration(int index) const;
    void setAcceleration(int index, double acceleration) const;
    bool backEMFSensingSupported(int index) const;
    double getBackEMF(int index) const;
    void setDataInterval(int index, uint32_t data_interval_ms) const;

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

  private:
    uint32_t motor_count_{0};
    std::vector<std::unique_ptr<Motor>> motors_;
};

}  // namespace phidgets

#endif  // PHIDGETS_API_MOTORS_HPP