AnalogOutput.hpp

00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Apr 22 20:40:58 CEST 2004  AnalogOutput.hpp
00003 
00004                         AnalogOutput.hpp -  description
00005                            -------------------
00006     begin                : Thu April 22 2004
00007     copyright            : (C) 2004 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
00034  *   Suite 330, Boston, MA  02111-1307  USA                                *
00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 #ifndef ANALOGOUTPUT_HPP
00039 #define ANALOGOUTPUT_HPP
00040 
00041 #include "AnalogOutInterface.hpp"
00042 
00043 namespace RTT
00044 {
00045 
00046 
00047 
00053     class RTT_API AnalogOutput
00054     {
00055     public:
00062         AnalogOutput( AnalogOutInterface* ana_out, unsigned int channel_nr )
00063             :board(ana_out), channel(channel_nr)
00064         {
00065         }
00066 
00070         ~AnalogOutput() {};
00071 
00076         int value(double v)
00077         {
00078             return board->write(channel, v);
00079         }
00080 
00085         int rawValue(int i)
00086         {
00087             return board->rawWrite(channel, i);
00088         }
00089 
00093         double value()
00094         {
00095             double r = 0.0;
00096             board->read(channel, r);
00097             return r;
00098         }
00099 
00103         int rawValue()
00104         {
00105             int r = 0;
00106             board->rawRead(channel, r);
00107             return r;
00108         }
00109 
00113         double highest()
00114         {
00115             return board->highest(channel);
00116         }
00117 
00121         double lowest()
00122         {
00123             return board->lowest(channel);
00124         }
00125 
00126     private:
00127         AnalogOutInterface *board;
00128         int channel;
00129     };
00130 }
00131 
00132 #endif // ANALOGOUTPUT_HPP
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