30 #ifndef _REC_ROBOTINO_API2_COMPACTBHA_H_ 31 #define _REC_ROBOTINO_API2_COMPACTBHA_H_ 33 #include "rec/robotino/api2/defines.h" 34 #include "rec/robotino/api2/ComObject.h" 51 #ifdef REC_ROBOTINO_API2_CLASS_ATTRIBUTE 52 REC_ROBOTINO_API2_CLASS_ATTRIBUTE
56 friend class CompactBHAImpl;
68 void setComId(
const ComId&
id );
76 void setPressures(
const float* pressures );
84 void setCompressorsEnabled(
bool enabled );
92 void setWaterDrainValve(
bool open );
100 void setGripperValve1(
bool open );
108 void setGripperValve2(
bool open );
116 void pressures(
float* readings )
const;
124 bool pressureSensor()
const;
132 void stringPots(
float* readings )
const;
140 float foilPot()
const;
150 virtual void pressuresChangedEvent(
const float* pressures,
unsigned int size );
159 virtual void pressureSensorChangedEvent(
bool pressureSensor );
169 virtual void stringPotsChangedEvent(
const float* readings,
unsigned int size );
178 virtual void foilPotChangedEvent(
float value );
181 CompactBHAImpl* _impl;
187 #endif //_REC_ROBOTINO_API2_COMPACTBHA_H_ Access to Robotino's (optional) compact version of the Bionic Handling Assistant. See Robotino XT...
Definition: CompactBHA.h:50
The base class for all Robotino objects.
Definition: ComObject.h:44
Definition: AnalogInput.h:36
The id of a Com object.
Definition: ComId.h:48