motor.hpp

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#ifndef _KIPR_MOTOR_MOTOR_HPP_
#define _KIPR_MOTOR_MOTOR_HPP_
 
namespace kipr
{
  namespace motor
  {
    class Motor
    {
    public:
      Motor (int port);
 
      void clearPositionCounter();
 
      void moveAtVelocity(short velocity);
      void moveToPosition(short speed, int goalPos);
      void moveRelativePosition(short speed, int deltaPos);
 
    #ifndef SWIG
      void setPidGains(short p, short i, short d, short pd, short id, short dd);
      void pidGains(short & p, short & i, short & d, short & pd, short & id, short & dd);
    #endif
 
      void freeze();
 
      bool isMotorDone() const;
 
      void blockMotorDone() const;
 
      void forward();
 
      void backward();
 
      void motor(int percent);
 
      void baasbennaguui(int percent);
 
      void motorPower(int percent);
 
      void off();
 
      int port() const;
 
    private:
      int m_port;
    };
 
    class BackEMF
    {
    public:
      BackEMF(int port);
      int value() const;
      int port () const;
    private:
      int m_port;
    };
  }
}
 
#endif