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<div class="title">LogComponent.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// Authors: see AUTHORS.md at project root.</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">// URL: https://github.com/asrob-uc3m/yarp-devices</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160; </div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="preprocessor">#ifndef __ECRO_PWM_CONTROLLER_LOG_COMPONENT__</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#define __ECRO_PWM_CONTROLLER_LOG_COMPONENT__</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="preprocessor">#include &lt;yarp/os/LogComponent.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;YARP_DECLARE_LOG_COMPONENT(EPC)</div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __ECRO_PWM_CONTROLLER_LOG_COMPONENT__</span></div>
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141 changes: 141 additions & 0 deletions EcroPwmController_8hpp_source.html
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160; </div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="preprocessor">#ifndef __ECRO_PWM_CONTROLLER__</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="preprocessor">#define __ECRO_PWM_CONTROLLER__</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="preprocessor">#include &lt;yarp/dev/DeviceDriver.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="preprocessor">#include &lt;yarp/dev/ISerialDevice.h&gt;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="preprocessor">#include &lt;yarp/dev/PolyDriver.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="preprocessor">#include &quot;IRobotManager.hpp&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceasrob.html">asrob</a></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;{</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160; </div>
<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classasrob_1_1EcroPwmController.html"> 19</a></span>&#160;<span class="keyword">class </span><a class="code" href="classasrob_1_1EcroPwmController.html">EcroPwmController</a> : <span class="keyword">public</span> yarp::dev::DeprecatedDeviceDriver,</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160; <span class="keyword">public</span> <a class="code" href="classasrob_1_1IRobotManager.html">IRobotManager</a></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;{</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160; <span class="comment">// -------- RobotManager declarations. Implementation in EcroPwmController.cpp --------</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160; <span class="comment">//-- Robot movement related functions</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classasrob_1_1EcroPwmController.html#a3d154c241ffce4d5711ef0a22bbc9ff8">moveForward</a>(<span class="keywordtype">double</span> value) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classasrob_1_1EcroPwmController.html#ac22eadf6bb1e58369c8019e4a017cb80">turnLeft</a>(<span class="keywordtype">double</span> value) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classasrob_1_1EcroPwmController.html#a4ccf4600f12c863625682fcbbeb588ec">stopMovement</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; <span class="comment">//-- Robot camera related functions</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classasrob_1_1EcroPwmController.html#a3415e162098b1fd38099256c7fa33b1e">tiltDown</a>(<span class="keywordtype">double</span> value) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classasrob_1_1EcroPwmController.html#a9e7f18941d63b71bd1efcf67a4762ef6">panLeft</a>(<span class="keywordtype">double</span> value) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classasrob_1_1EcroPwmController.html#abdac06d089d8a3c29521f8074018a44a">stopCameraMovement</a>() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; <span class="comment">// -------- DeviceDriver declarations. Implementation in DeviceDriverImpl.cpp --------</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; <span class="keywordtype">bool</span> open(yarp::os::Searchable&amp; config) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; <span class="keywordtype">bool</span> close() <span class="keyword">override</span>;</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; <span class="keywordtype">bool</span> sendCurrentJointValues();</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; yarp::dev::PolyDriver serialDevice;</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; yarp::dev::ISerialDevice * serial;</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; <span class="keywordtype">int</span> leftMotorVelocity {0};</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; <span class="keywordtype">int</span> rightMotorVelocity {0};</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;};</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;} <span class="comment">// namespace asrob</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __ECRO_PWM_CONTROLLER__</span></div>
<div class="ttc" id="aclassasrob_1_1EcroPwmController_html"><div class="ttname"><a href="classasrob_1_1EcroPwmController.html">asrob::EcroPwmController</a></div><div class="ttdoc">EcroPwmController.</div><div class="ttdef"><b>Definition:</b> EcroPwmController.hpp:21</div></div>
<div class="ttc" id="aclassasrob_1_1EcroPwmController_html_a3415e162098b1fd38099256c7fa33b1e"><div class="ttname"><a href="classasrob_1_1EcroPwmController.html#a3415e162098b1fd38099256c7fa33b1e">asrob::EcroPwmController::tiltDown</a></div><div class="ttdeci">bool tiltDown(double value) override</div><div class="ttdoc">Robot camera: Tilt down (use negative value for tilt up). position mode [deg]. Velocity mode [deg/s].</div><div class="ttdef"><b>Definition:</b> EcroPwmController.cpp:59</div></div>
<div class="ttc" id="aclassasrob_1_1EcroPwmController_html_a3d154c241ffce4d5711ef0a22bbc9ff8"><div class="ttname"><a href="classasrob_1_1EcroPwmController.html#a3d154c241ffce4d5711ef0a22bbc9ff8">asrob::EcroPwmController::moveForward</a></div><div class="ttdeci">bool moveForward(double value) override</div><div class="ttdoc">Robot: Move forward (use negative value for move backward). position mode [m]. Velocity mode [m/s].</div><div class="ttdef"><b>Definition:</b> EcroPwmController.cpp:20</div></div>
<div class="ttc" id="aclassasrob_1_1EcroPwmController_html_a4ccf4600f12c863625682fcbbeb588ec"><div class="ttname"><a href="classasrob_1_1EcroPwmController.html#a4ccf4600f12c863625682fcbbeb588ec">asrob::EcroPwmController::stopMovement</a></div><div class="ttdeci">bool stopMovement() override</div><div class="ttdoc">Robot: Stop movement.</div><div class="ttdef"><b>Definition:</b> EcroPwmController.cpp:48</div></div>
<div class="ttc" id="aclassasrob_1_1EcroPwmController_html_a9e7f18941d63b71bd1efcf67a4762ef6"><div class="ttname"><a href="classasrob_1_1EcroPwmController.html#a9e7f18941d63b71bd1efcf67a4762ef6">asrob::EcroPwmController::panLeft</a></div><div class="ttdeci">bool panLeft(double value) override</div><div class="ttdoc">Robot camera: Pan left (use negative value for pan right). position mode [deg]. Velocity mode [deg/s]...</div><div class="ttdef"><b>Definition:</b> EcroPwmController.cpp:65</div></div>
<div class="ttc" id="aclassasrob_1_1EcroPwmController_html_abdac06d089d8a3c29521f8074018a44a"><div class="ttname"><a href="classasrob_1_1EcroPwmController.html#abdac06d089d8a3c29521f8074018a44a">asrob::EcroPwmController::stopCameraMovement</a></div><div class="ttdeci">bool stopCameraMovement() override</div><div class="ttdoc">Robot camera: Stop movement.</div><div class="ttdef"><b>Definition:</b> EcroPwmController.cpp:71</div></div>
<div class="ttc" id="aclassasrob_1_1EcroPwmController_html_ac22eadf6bb1e58369c8019e4a017cb80"><div class="ttname"><a href="classasrob_1_1EcroPwmController.html#ac22eadf6bb1e58369c8019e4a017cb80">asrob::EcroPwmController::turnLeft</a></div><div class="ttdeci">bool turnLeft(double value) override</div><div class="ttdoc">Robot: Turn left (use negative value for turn left). position mode [deg]. Velocity mode [deg/s].</div><div class="ttdef"><b>Definition:</b> EcroPwmController.cpp:34</div></div>
<div class="ttc" id="aclassasrob_1_1IRobotManager_html"><div class="ttname"><a href="classasrob_1_1IRobotManager.html">asrob::IRobotManager</a></div><div class="ttdef"><b>Definition:</b> IRobotManager.hpp:28</div></div>
<div class="ttc" id="anamespaceasrob_html"><div class="ttname"><a href="namespaceasrob.html">asrob</a></div><div class="ttdoc">The main, catch-all namespace for ASROB UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div>
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