bhmotor.h

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// ***************************************************************************
//                           bhmotor.h
//
//    copyright            : (C) 2004 by tbaier
//    email                : tbaier@informatik.uni-hamburg.de
// ***************************************************************************
#ifndef BHMOTOR_H
#define BHMOTOR_H

#include "bhcontroller.h"

// order of this strings is important (used by checkError)
static const char* BHMotorException_info[] = {
        "Value out of range",
        "Speed out of range",
        "Position out of range.",
        "Init forces out of range.",
        "Force out of Range.",
        "Force to high.",
        "Force to low.",
        "UNDEF"};


class BHMotorException
{
 public:

  enum error
    {
      EXCP_VALUE_OUT_OF_RANGE,       
      EXCP_SPEED_OUT_OF_RANGE,       
      EXCP_POSITION_OUT_OF_RANGE,    
      EXCP_UNDEF
    };


  BHMotorException(const error e);
  BHMotorException(){};



  const void show();

  friend std::ostream& operator<<(std::ostream& os,const BHMotorException& e);

  bool operator==(error e);

  error Err;

 protected:
  std::string Msg;



};


// ****************************
// **                        **
// ****************************
inline BHMotorException::BHMotorException(const error e)
{
  Msg = BHMotorException_info[e];
  Err = e;
}


// ****************************
// **                        **
// ****************************
inline const void BHMotorException::show ()
{
  std::cout << Msg << std::endl;
}


// ****************************
// **                        **
// ****************************
inline std::ostream& operator<<(std::ostream& os,const BHMotorException& e)
{
  os << e.Msg << std::endl;
  return os;
}


// ****************************
// **                        **
// ****************************
inline bool BHMotorException:: operator==(error e)
{
  return (Err == e);
}





// ***********************************************
// **                                           **
// **  BHMotor                                  **
// **                                           **
// ***********************************************

class BHMotor
{
 public:

  BHMotor();

  BHMotor(int speed);

  virtual ~BHMotor();

  // @{

  void setSpeed(const int speed) throw (BHMotorException);

  int getSpeed() const;

  void setGain(const short gain);

  int getGain() const;



  // @{

  void setPos(const unsigned int pos) throw (BHMotorException);

  int getPos() const;





  BHPIDController *Ctr;


 protected:

  int Speed;

  short Gain;

  unsigned int DPos;

  int MinSpeed;

  int MaxSpeed;

  unsigned short MinPos;

  unsigned short MaxPos;

  int DeltaPos;

};


// ****************************
// **                        **
// ****************************
inline BHMotor::BHMotor() :
  Speed(0),
     Gain(0),
     MinSpeed(0),
     MaxSpeed(0)
{
  Ctr = new BHPIDController(0.0, 0.0, 0.0);
}


// ****************************
// **                        **
// ****************************
inline BHMotor::~BHMotor()
{
  delete Ctr;
}

// ****************************
// **                        **
// ****************************
inline void BHMotor::setSpeed(const int speed) throw (BHMotorException)
{
  if(speed < MinSpeed || speed > MaxSpeed){
    std::cout << " **BHMotor::setSpeed( " << speed << " ) : < " << MinSpeed << " ||  > " << MaxSpeed << std::endl;   
    throw BHMotorException(BHMotorException::EXCP_SPEED_OUT_OF_RANGE);
  }
  else{
    Speed = speed;
  }
}

// ****************************
// **                        **
// ****************************
inline void BHMotor::setPos(const unsigned int pos) throw (BHMotorException)
{
  if(pos < MinPos || pos > MaxPos){
    throw BHMotorException(BHMotorException::EXCP_POSITION_OUT_OF_RANGE);
  }
  else{
    DPos = pos;
  }
}


// ****************************
// **                        **
// ****************************
inline void BHMotor::setGain(const short gain)
{
  Gain = gain;
}

// ****************************
// **                        **
// ****************************
inline int BHMotor::getSpeed() const
{
  return Speed;
}

// ****************************
// **                        **
// ****************************
inline int BHMotor::getPos() const
{
  return DPos;
}


// ****************************
// **                        **
// ****************************
inline int BHMotor::getGain() const
{
  return Gain;
}

#endif //BHANDMOTOR_H

---

Tim Baier bhandlib v0.25

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