70 lines
2.2 KiB
C++
70 lines
2.2 KiB
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "api.h"
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#include "okapi/api/control/controllerOutput.hpp"
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#include "okapi/api/util/logging.hpp"
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namespace okapi {
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class ADIMotor : public ControllerOutput<double> {
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public:
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/**
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* A motor in an ADI port.
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*
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* ```cpp
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* auto mtr = ADIMotor('A');
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* auto reversedMtr = ADIMotor('A', true);
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* ```
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*
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* @param iport The ADI port number (``[1, 8]``, ``[a, h]``, ``[A, H]``).
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* @param ireverse Whether the motor is reversed.
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* @param logger The logger that initialization warnings will be logged to.
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*/
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ADIMotor(std::uint8_t iport,
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bool ireverse = false,
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const std::shared_ptr<Logger> &logger = Logger::getDefaultLogger());
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/**
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* A motor in an ADI port.
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*
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* ```cpp
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* auto mtr = ADIMotor({1, 'A'}, false);
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* auto reversedMtr = ADIMotor({1, 'A'}, true);
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* ```
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*
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* @param iports The ports the motor is plugged in to in the order ``{smart port, motor port}``.
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* The smart port is the smart port number (``[1, 21]``). The motor port is the ADI port number
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* (``[1, 8]``, ``[a, h]``, ``[A, H]``).
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* @param ireverse Whether the motor is reversed.
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* @param logger The logger that initialization warnings will be logged to.
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*/
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ADIMotor(std::pair<std::uint8_t, std::uint8_t> iports,
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bool ireverse = false,
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const std::shared_ptr<Logger> &logger = Logger::getDefaultLogger());
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/**
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* Set the voltage to the motor.
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*
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* @param ivoltage voltage in the range [-127, 127].
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*/
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virtual void moveVoltage(std::int8_t ivoltage) const;
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/**
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* Writes the value of the controller output. This method might be automatically called in another
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* thread by the controller. The range of input values is expected to be [-1, 1].
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*
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* @param ivalue the controller's output in the range [-1, 1]
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*/
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void controllerSet(double ivalue) override;
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protected:
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std::uint8_t smartPort;
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std::uint8_t port;
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std::int8_t reversed;
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};
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} // namespace okapi
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