/home/verbeek/openrobotino_src/openrobotino1/lib/rec/robotino/com/Motor.h

//  Copyright (C) 2004-2008, Robotics Equipment Corporation GmbH

#ifndef _REC_ROBOTINO_COM_MOTOR_H_
#define _REC_ROBOTINO_COM_MOTOR_H_

#include "rec/robotino/com/Actor.h"

namespace rec
{
        namespace robotino
        {
                namespace com
                {
                        class
#ifdef WIN32
#  ifdef rec_robotino_com_EXPORTS
                __declspec(dllexport)
#endif
#  ifdef rec_robotino_com2_EXPORTS
                __declspec(dllexport)
#endif
#  ifdef rec_robotino_com3_EXPORTS
                __declspec(dllexport)
#endif
#endif
                        Motor : public Actor
                        {
                        public:
                                Motor();

                                virtual ~Motor();

                                static unsigned int numMotors();

                                void setMotorNumber( unsigned int number );

                                void setSpeedSetPoint( float speed );

                                void resetPosition();

                                void setBrake( bool brake );

                                void setPID( unsigned char kp, unsigned char ki, unsigned char kd );

                                float actualVelocity() const;

                                int actualPosition() const;

                                float motorCurrent() const;

                                unsigned short rawCurrentMeasurment() const;

                        private:
                                unsigned int _motorNumber;
                                bool _brake;
                        };
                }
        }
}
#endif

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