ServoMotor.h

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/***************************************************************************
                          ServoMotor.h  -  description
                             -------------------
    begin                : ven jun 08 2003
    copyright            : (C) 2003 by Michel Dubois, Yann Le Guyadec
    email                : Michel.Dubois@univ-ubs.fr, Yann.Le-Guyadec@univ-ubs.fr
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/


// Modèle statique
/*
  * changes :
  *  - 08/06/03 MD Creation !
  */


#ifndef __SERVOMOTOR__
#define __SERVOMOTOR__


// Include files
#include "Leg.h"
#include "SimServoMotor.h"

#define KEEP           0
#define REPLACE        1

class SimServoMotor;

namespace API {

  class Leg;
  class ServoMotor
  {
    friend class Leg;
    friend class Atom;
    class Util;
    friend class Util;

    public:
      class Util {
        friend class ServoMotor;
        friend class Leg;
        friend class Atom;
        private:
          SimServoMotor * simservo;
          ServoMotor * servo;
          Util(ServoMotor * servo);
          ~Util();
        public:
          void print() const;
          
          SimServoMotor * getSimulatedObject() const;

        protected:
          void setSimulatedObject(SimServoMotor * aSimServoMotor );
      };

      Util * util;
      private:
      Leg * leg;
      int servoID;
      int targetPos;
      int targetVelocity;
    
    public:
      int     getID() const;

      Leg *   getLeg() const;
      
        int     getTargetPosition() const;  // [SERVO_MOTOR_MIN_POS..SERVO_MOTOR_MAX_POS]

        double  getTargetAngle() const;

      double  getTargetVelocity() const;  // en radians/sec

      double  getTargetForce() const;
      
      int     getCurrentPosition() const;
      
        double  getCurrentVelocity() const;

      double  getCurrentForce() const;
      
        double  getCurrentAngle() const;
      
      double  getHighStopAngle() const;

        double  getLowStopAngle() const;

      int     getMinPosition() const;

      int     getMaxPosition() const;

      void    setToHalfPosition(int mode=KEEP, Real deltaTime=0,unsigned int index=0);

      void    setTargetAngle(double aTargetAngle, int mode=KEEP, Real deltaTime=0,unsigned int index=0);

      void    setTargetPosition(int aTargetPosition, int mode=KEEP, Real deltaTime=0,unsigned int index=0);

      void    setTargetVelocity(int aTargetVelocity, int mode=KEEP, Real deltaTime=0,unsigned int index=0);

      void    setTargetForce(double aTargetForce, int mode=KEEP, Real deltaTime=0,unsigned int index=0);

      void    stop();

    protected:
      ServoMotor();
      ~ServoMotor();

      void    setID(int aServoMotorID);

      void    setLeg(Leg * aLeg);
    
  };// END CLASS DEFINITION ServoMotor
}
#endif // __SERVOMOTOR__

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