Fawkes API Fawkes Development Version
biward_drive_mode.h
1
2/***************************************************************************
3 * slow_biward_drive_mode.h - Implementation of drive-mode "slow forward + backward"
4 *
5 * Created: Fri Oct 18 15:16:23 2013
6 * Copyright 2002 Stefan Jacobs
7 * 2013-2014 Bahram Maleki-Fard
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _PLUGINS_COLLI_BIWARD_DRIVE_MODE_H_
24#define _PLUGINS_COLLI_BIWARD_DRIVE_MODE_H_
25
26#include "abstract_drive_mode.h"
27
28namespace fawkes {
29
30class ForwardDriveModule;
31class BackwardDriveModule;
32
34{
35public:
37 BackwardDriveModule *backward,
38 Logger * logger,
39 Configuration * config);
41
42 void update();
43
44private:
45 ForwardDriveModule * mod_forward_;
46 BackwardDriveModule *mod_backward_;
47
48 int count_forward_;
49};
50
51} // namespace fawkes
52
53#endif
This is the base class which calculates drive modes.
This is the SlowBackward drive-module, for slow backward only movements.
This is the SlowBiward drive-module.
BiwardDriveModule(ForwardDriveModule *forward, BackwardDriveModule *backward, Logger *logger, Configuration *config)
Constructor.
void update()
Calculate here your desired settings.
~BiwardDriveModule()
Destruct your local values here.
Interface for configuration handling.
Definition: config.h:68
This is the Forward drive-module, for forward only movements.
Interface for logging.
Definition: logger.h:42
Fawkes library namespace.