Orocos Real-Time Toolkit
2.5.0
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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 * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 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