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 
28 namespace fawkes {
29 
30 class ForwardDriveModule;
31 class BackwardDriveModule;
32 
34 {
35 public:
37  BackwardDriveModule *backward,
38  Logger * logger,
39  Configuration * config);
41 
42  void update();
43 
44 private:
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.