Orocos Real-Time Toolkit
2.9.0
Main Page
Related Pages
Modules
Namespaces
Classes
Files
Examples
File List
File Members
rtt
extras
dev
DriveInterface.hpp
Go to the documentation of this file.
1
/***************************************************************************
2
tag: FMTC do nov 2 13:05:56 CET 2006 DriveInterface.hpp
3
4
DriveInterface.hpp - description
5
-------------------
6
begin : do november 02 2006
7
copyright : (C) 2006 FMTC
8
email : peter.soetens@fmtc.be
9
10
***************************************************************************
11
* This library is free software; you can redistribute it and/or *
12
* modify it under the terms of the GNU General Public *
13
* License as published by the Free Software Foundation; *
14
* version 2 of the License. *
15
* *
16
* As a special exception, you may use this file as part of a free *
17
* software library without restriction. Specifically, if other files *
18
* instantiate templates or use macros or inline functions from this *
19
* file, or you compile this file and link it with other files to *
20
* produce an executable, this file does not by itself cause the *
21
* resulting executable to be covered by the GNU General Public *
22
* License. This exception does not however invalidate any other *
23
* reasons why the executable file might be covered by the GNU General *
24
* Public License. *
25
* *
26
* This library is distributed in the hope that it will be useful, *
27
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
28
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
29
* Lesser General Public License for more details. *
30
* *
31
* You should have received a copy of the GNU General Public *
32
* License along with this library; if not, write to the Free Software *
33
* Foundation, Inc., 59 Temple Place, *
34
* Suite 330, Boston, MA 02111-1307 USA *
35
* *
36
***************************************************************************/
37
38
39
40
#ifndef DEVICE_DRIVERS_DRIVE_INTERFACE_HPP
41
#define DEVICE_DRIVERS_DRIVE_INTERFACE_HPP
42
43
#include "../../rtt-config.h"
44
#include "../../internal/Signal.hpp"
45
46
namespace
RTT
47
{
namespace
dev {
48
49
class
RTT_API
DigitalOutput
;
50
56
class
RTT_API
DriveInterface
57
{
58
public
:
59
virtual
~DriveInterface
() {}
60
64
virtual
bool
enableDrive() = 0;
65
69
virtual
bool
disableDrive() = 0;
70
74
virtual
bool
isEnabled()
const
= 0;
75
79
virtual
DigitalOutput
* getEnable() = 0;
80
86
virtual
void
addOffset(
double
addoffset) = 0;
87
91
virtual
double
getOffset() = 0;
92
98
virtual
bool
driveSet(
double
v ) = 0;
99
103
virtual
double
driveGet()
const
= 0;
104
108
virtual
double
maxDriveGet()
const
= 0;
109
113
virtual
double
minDriveGet()
const
= 0;
114
118
virtual
void
limit(
double
lower,
double
higher,
const
internal::Signal
<
void
(std::string)>& ev) = 0;
119
};
120
121
}}
122
123
#endif
RTT::dev::DriveInterface::~DriveInterface
virtual ~DriveInterface()
Definition:
DriveInterface.hpp:59
RTT::dev::DriveInterface
A Drive Object controls a single axis.
Definition:
DriveInterface.hpp:56
RTT_API
#define RTT_API
Definition:
rtt-config.h:97
RTT::dev::DigitalOutput
A DigitalOut represents any on/off output.
Definition:
DigitalOutput.hpp:55
RTT
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition:
Activity.cpp:52
RTT::internal::Signal
Very lightweight wrapper around the signalN classes that allows signals to be created where the numbe...
Definition:
rtt-internal-fwd.hpp:32
Generated on Fri Apr 5 2019 11:59:35 for Orocos Real-Time Toolkit by
1.8.11