WEF-6A.hh

[詳解]

 
//
// Copyright (C) 2011-2022 Yokokura, Yuki
// This program is free software;
// you can redistribute it and/or modify it under the terms of the FreeBSD License.
// For details, see the License.txt file.
 
#ifndef WEF_6A
#define WEF_6A
 
#include <array>
#include <string>
#include <memory>
#include "PCI-46610x.hh"
 
namespace ARCS {    // ARCS名前空間
class WEF6A {
    public:
        enum FilterSettings {
            FILT_DISABLE,   
            FILT_2AVE,      
            FILT_4AVE,      
            FILT_8AVE       
        };
        
        explicit WEF6A(std::unique_ptr<PCI46610x> RS422CHx);
        WEF6A(WEF6A&& right);                               
        ~WEF6A();                                           
        void GetVersionInfo(std::string& VerInfo);          
        void GetSensitivity(
            double& SensFx, double& SensFy, double& SensFz,
            double& SensMx, double& SensMy, double& SensMz
        );  
        void SendForceRequest(void);        
        void WaitForceData(void);           
        void ZeroCalibration(void);         
        void ZeroCalibrationOneTime(void);  
        void SetInternalFilter(const FilterSettings FS);    
        bool Get6axisForce(
            double& Fx, double& Fy, double& Fz,
            double& Mx, double& My, double& Mz
        );                                                  
        bool Get6axisForce(std::array<double, 6>& Force);   
        
    private:
        WEF6A(const WEF6A&) = delete;                       
        const WEF6A& operator=(const WEF6A&) = delete;      
        const unsigned int NUM_FORCEDATA = 27;              
        std::unique_ptr<PCI46610x> RS422;                   
        std::string VersionInfo;                            
        uint8_t RecordNumprev;  
        double SFx;             
        double SFy;             
        double SFz;             
        double SMx;             
        double SMy;             
        double SMz;             
        double Fxprev;          
        double Fyprev;          
        double Fzprev;          
        double Mxprev;          
        double Myprev;          
        double Mzprev;          
        bool IsCalibrated;      
        double GetConv1axisForce(const double Sensitivity); 
        static uint8_t ConvAsciiToHex(const uint8_t Ascii); 
};
}
 
#endif