Subversion Repositories riscv_vhdl

/**

 * @file

 * @copyright  Copyright 2017 GNSS Sensor Ltd. All right reserved.

 * @author     Sergey Khabarov - sergeykhbr@gmail.com

 * @brief      Motor with sensors interface.

 */

#ifndef __DEBUGGER_PLUGIN_IMOTOR_H__

#define __DEBUGGER_PLUGIN_IMOTOR_H__

#include <iface.h>

#include <inttypes.h>

namespace debugger {

static const char *const IFACE_MOTOR = "IMotor";

class IMotor : public IFace {

 public:

    IMotor() : IFace(IFACE_MOTOR) {}

    /** 0 = motor is stopped; 1.0 = maximum rpm and enabled Breaks */

    virtual double getPowerConsumption() = 0;

    /** Backward pressure: 1.0 = 100% oclusion; 0 = no backward pressure */

    virtual double getForceResistance() = 0;

    virtual void changeForceResistance(double v) = 0;

    /** value in a range 0 to length mm */

    virtual double getActuatorPos() = 0;

    virtual double getActuatorMax() = 0;

    // Debug methods:

    virtual double getVelocity() = 0;

    virtual double getCurrent() = 0;

};

}  // namespace debugger

#endif  // __DEBUGGER_PLUGIN_IMOTOR_H__