servoMotor.h

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/* Copyright 2013 - 2015 Yurii Litvinov and 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 <QtCore/QString>
#include <QtCore/QScopedPointer>

#include "motorInterface.h"

#include "deviceState.h"

namespace trikKernel {
class Configurer;
}

namespace trikHal {
class HardwareAbstractionInterface;
class OutputDeviceFileInterface;
}

namespace trikControl {

class ServoMotor : public MotorInterface
{
    Q_OBJECT

public:
    ServoMotor(const QString &port, const trikKernel::Configurer &configurer
            , const trikHal::HardwareAbstractionInterface &hardwareAbstraction);

    ~ServoMotor() override;

    Status status() const override;

    int minControl() const override;

    int maxControl() const override;

public slots:
    int power() const override;

    int frequency() const;

    int duty() const;

    void powerOff() override;

    void setPower(int power, bool constrain = true) override;

    void brake(int /* durationMs */ = 0) override { }

    void setPeriod(int uSec = 20000) override;
private:
    QScopedPointer<trikHal::OutputDeviceFileInterface> mDutyFile;
    QScopedPointer<trikHal::OutputDeviceFileInterface> mPeriodFile;
    QScopedPointer<trikHal::OutputDeviceFileInterface> mRunFile;
    int mPeriod;
    int mCurrentDutyPercent;
    int mMin;
    int mMax;
    int mZero;
    int mStop;
    int mMinControlRange;
    int mMaxControlRange;
    bool mInvert;
    int mCurrentPower;
    bool mRun;
    DeviceState mState;
};

}