Orocos Real-Time Toolkit  2.8.3
DriveInterface.hpp
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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  ***************************************************************************
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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 
50 
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
A Drive Object controls a single axis.
#define RTT_API
Definition: rtt-config.h:97
A DigitalOut represents any on/off output.
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:51
Very lightweight wrapper around the signalN classes that allows signals to be created where the numbe...