epuckInterface.hpp

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/* Copyright 2008 Renato Florentino Garcia <fgar.renato@gmail.com>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2, as
 * published by the Free Software Foundation.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef EPUCK_INTERFACE_HPP
#define EPUCK_INTERFACE_HPP

#include "serialPort.hpp"

class EpuckInterface
{
public:

  struct Triple
  {
    float x;     
    float y;     
    float theta; 
  };

protected:

  EpuckInterface(const SerialPort* const serialPort);

  const SerialPort* const serialPort;

  static const float EPUCK_DIAMETER;

  enum Request
  {
    CONFIG_CAMERA  = 0x02, 
    SET_VEL        = 0x13, 
    GET_STEPS      = 0x14, 
    STOP_MOTORS    = 0x15, 
    GET_IR_PROX    = 0x16, 
    GET_CAMERA_IMG = 0x17, 
    SET_LED_POWER  = 0x18  
  };

  void SendRequest(Request request) const;
};

#endif