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__