30 #ifndef _REC_ROBOTINO_API2_MotorArray_H_ 31 #define _REC_ROBOTINO_API2_MotorArray_H_ 33 #include "rec/robotino/api2/defines.h" 34 #include "rec/robotino/api2/ComObject.h" 48 #ifdef REC_ROBOTINO_API2_CLASS_ATTRIBUTE 49 REC_ROBOTINO_API2_CLASS_ATTRIBUTE
53 friend class MotorArrayImpl;
66 static unsigned int numMotors();
75 void setComId(
const ComId&
id );
85 void setSpeedSetPoints(
const float* speeds,
unsigned int size );
104 void actualVelocities(
float* readings )
const;
123 void actualPositions(
int* readings )
const;
142 void motorCurrents(
float* readings )
const;
150 virtual void velocitiesChangedEvent(
const float* velocities,
unsigned int size );
158 virtual void positionsChangedEvent(
const int* positions,
unsigned int size );
166 virtual void currentsChangedEvent(
const float* currents,
unsigned int size );
169 MotorArrayImpl* _impl;
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
Represents a single MotorArray.
Definition: MotorArray.h:47