bhandext.h

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/***************************************************************************
                          bhandext.h  -  description
                             -------------------
    begin                : Die Mär 11 2003
    copyright            : (C) 2003 by Bernd Roessler
    email                : roessler@informatik.uni-hamburg.de
 ***************************************************************************/

#ifndef BHANDEXT_H
#define BHANDEXT_H

#include <bhand.h>
#include "event_handler.h"
#include <exception>

struct MotorFeedback
{
  char loopFeedbackVel;               
  unsigned char loopFeedbackStrain;   
  unsigned short loopFeedbackAbsPos;  
  char loopFeedbackDeltaPos;          
};

struct FeedbackBlock
{
  MotorFeedback mf[4];             
  unsigned short loopFeedbackTemp; 
} ;

struct MotorControl
{
  char loopCtrlVel;               
  unsigned char loopCtrlPropGain; 
};

struct ControlBlock
{
  MotorControl mc[4]; 
};


class BHandExt : public BHand, public Event_Handler
{


 public:
  BHandExt(const std::string devName);

  ~BHandExt();

  void rtMode(const Motors motors);

  FeedbackBlock send(ControlBlock cb) throw (BHandException);

  FeedbackBlock getFeedbackBlock() throw (BHandException);

  //FeedbackBlock send() throw (BHandException);

 protected:
  int lcv, lcvc, lcpg, lfv, lfvc, lfs, lfap, lfdp, lfdpc, lft;
  int fbSize;
  void send (char* s, int size) throw (BHandException);
  void read(char* s) throw (BHandException);
  virtual void handle_signal (int) {stop();abort();};
  FeedbackBlock receiveFeedbackBlock() throw (BHandException);

};

#endif

---

Tim Baier bhandlib v0.25

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