RbFirmataHingeServo.h

// RbFirmataHingeServo.h: interface for the RbFirmataHingeServo class.
//

#pragma once

namespace RoboticsAnimatSim
{
        namespace Robotics
        {
                namespace RobotIOControls
                {
                        namespace Firmata
                        {

class ROBOTICS_PORT RbFirmataHingeServo : public RbFirmataPart
{
protected:
    MotorizedJoint *m_lpJoint;

        int m_iMaxPulse;
        int m_iMinPulse;
        bool m_bResetToStartPos;

        int m_iMaxAngle;
        int m_iMinAngle;
        int m_iCenterAngle;

        float m_fltMaxAngle;
        float m_fltMinAngle;

        float m_fltPosFPToFloatSlope;
        float m_fltPosFPToFloatIntercept;

        float m_fltPosFloatToFPSlope;
        float m_fltPosFloatToFPIntercept;

        int m_iLastGoalPos;

public:
        RbFirmataHingeServo();
        virtual ~RbFirmataHingeServo();

        virtual bool IsMotorControl() {return true;};

        virtual int MaxPulse();
        virtual void MaxPulse(int iPulse);

        virtual int MinPulse();
        virtual void MinPulse(int iPulse);

        virtual bool ResetToStartPos();
        virtual void ResetToStartPos(bool bVal);

        virtual void SetupIO();
        virtual void StepIO(int iPartIdx);
        
        virtual float ConvertPosFPToRad(int iPos);
        virtual int ConvertPosRadToFP(float fltPos);

        virtual void SetGoalPosition_FP(int iPos);
        virtual void SetGoalPosition(float fltPos);

#pragma region DataAccesMethods

        virtual float *GetDataPointer(const std::string &strDataType);
        virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
        virtual void QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);

#pragma endregion

        virtual void Initialize();
    virtual void StepSimulation();
        virtual void Load(CStdXml &oXml);
};

                        }       //Firmata
                }               //RobotIOControls
        }                       // Robotics
}                               //RoboticsAnimatSim