Orocos Real-Time Toolkit  2.5.0
AnalogOutput.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Apr 22 20:40:58 CEST 2004  AnalogOutput.hpp
00003 
00004                         AnalogOutput.hpp -  description
00005                            -------------------
00006     begin                : Thu April 22 2004
00007     copyright            : (C) 2004 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
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00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 #ifndef ANALOGOUTPUT_HPP
00039 #define ANALOGOUTPUT_HPP
00040 
00041 #include "AnalogOutInterface.hpp"
00042 
00043 namespace RTT
00044 { namespace dev {
00045 
00046 
00047 
00048 
00054     class RTT_API AnalogOutput
00055     {
00056     public:
00063         AnalogOutput( AnalogOutInterface* ana_out, unsigned int channel_nr )
00064             :board(ana_out), channel(channel_nr)
00065         {
00066         }
00067 
00071         ~AnalogOutput() {};
00072 
00077         int value(double v)
00078         {
00079             return board->write(channel, v);
00080         }
00081 
00086         int rawValue(int i)
00087         {
00088             return board->rawWrite(channel, i);
00089         }
00090 
00094         double value()
00095         {
00096             double r = 0.0;
00097             board->read(channel, r);
00098             return r;
00099         }
00100 
00104         int rawValue()
00105         {
00106             int r = 0;
00107             board->rawRead(channel, r);
00108             return r;
00109         }
00110 
00114         double highest()
00115         {
00116             return board->highest(channel);
00117         }
00118 
00122         double lowest()
00123         {
00124             return board->lowest(channel);
00125         }
00126 
00127     private:
00128         AnalogOutInterface *board;
00129         int channel;
00130     };
00131 }}
00132 
00133 #endif // ANALOGOUTPUT_HPP