motorInterface.h

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/* Copyright 2015 CyberTech Labs Ltd.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License. */

#pragma once

#include <QtCore/QObject>

#include "deviceInterface.h"

#include "declSpec.h"

namespace trikControl {

class TRIKCONTROL_EXPORT MotorInterface : public QObject, public DeviceInterface
{
    Q_OBJECT

public:
    enum class Type {
        powerMotor
        , servoMotor
    };

    virtual int minControl() const = 0;

    virtual int maxControl() const = 0;

public slots:
    virtual void setPower(int power, bool constrain = true) = 0;

    virtual int power() const = 0;

    virtual void powerOff() = 0;

    virtual void brake(int durationMs = 500) = 0;

    virtual void setPeriod(int uSec = 20000) = 0;
};

}

Q_DECLARE_METATYPE(trikControl::MotorInterface *)