OrocosComponentLibrary: IP_FastDAC_AOutInterface.hpp Source File

00001 #ifndef IP_FASTDAC_AOUTINTERFACE_HPP
00002 #define IP_FASTDAC_AOUTINTERFACE_HPP
00003 
00004 
00005 #include "drivers/LiAS_lxrt_user.h"
00006 #include <rtt/dev/AnalogOutInterface.hpp>
00007 #include <iostream>
00008 
00009 class IP_FastDAC_AOutInterface : public RTT::AnalogOutInterface
00010 {
00011 public:
00012     IP_FastDAC_AOutInterface(const std::string& name);
00013     IP_FastDAC_AOutInterface();
00014     virtual ~IP_FastDAC_AOutInterface() {};
00015 
00016     virtual void rangeSet(unsigned int chan, unsigned int range)
00017     {
00018         IP_FastDAC_set_gain_of_group( chan/2 + 1, range);
00019     }
00020 
00021     virtual void arefSet(unsigned int chan, unsigned int aref) {};
00022 
00023     virtual void write( unsigned int chan, unsigned int value )
00024     {
00025         //std::cout << "IP_FastDAC_AOutInterface: write " << value << std::endl;
00026         IP_FastDAC_write_to_channel (value, chan);
00027     }
00028 
00029     virtual unsigned int binaryRange() const { return 8192; }
00030 
00031     virtual unsigned int binaryLowest() const { return 0; }
00032 
00033     virtual unsigned int binaryHighest() const { return 8191; }
00034 
00035     virtual double lowest(unsigned int chan) const { return -10.0; }
00036 
00037     virtual double highest(unsigned int chan) const { return 10.0; }
00038 
00042     virtual double resolution(unsigned int chan) const { return 8192/20.0; }
00043 
00044     virtual unsigned int nbOfChannels() const {return 8; }
00045 };
00046 
00047 
00048 #endif