ServoMotor.h

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/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  alan.fischer@gmail.com                                  *
 * Andres Reinot  andres@reinot.com                                      *
 * Tyler Streeter  tylerstreeter@gmail.com                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_SERVO_MOTOR_H
#define OPAL_SERVO_MOTOR_H

#include "Defines.h"
#include "Motor.h"
#include "Joint.h"
#include "ServoMotorData.h"

namespace opal
{
        class ServoMotor : public Motor
        {
        public:
                ServoMotor();

                virtual ~ServoMotor();

                //virtual void OPAL_CALL init(Mode m, Joint* j, int axisNum);

                virtual void OPAL_CALL init(const ServoMotorData& data);

                virtual const ServoMotorData& OPAL_CALL getData()const;

                virtual MotorType OPAL_CALL getType()const;

                virtual void OPAL_CALL setName(const std::string& name);

                virtual const std::string& OPAL_CALL getName()const;

                virtual bool OPAL_CALL isEnabled()const;

                virtual void OPAL_CALL setEnabled(bool e);

                virtual void OPAL_CALL setDesiredAngle(real a);

                virtual void OPAL_CALL setDesiredAngleNorm(real a);

                virtual real OPAL_CALL getDesiredAngle()const;

                virtual void OPAL_CALL setDesiredVel(real vel);

                virtual real OPAL_CALL getDesiredVel()const;

                virtual void OPAL_CALL setMaxTorque(real max);

                virtual real OPAL_CALL getMaxTorque()const;

                virtual void OPAL_CALL setRestoreSpeed(real speed);

                virtual real OPAL_CALL getRestoreSpeed()const;

                virtual void OPAL_CALL internal_update();

                virtual bool OPAL_CALL internal_dependsOnJoint(Joint* j);

        protected:
                ServoMotorData mData;

        private:

        };
}

#endif

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