ControlBoardWrapperAmplifierControl.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERAMPLIFIERCONTROL_H
#define YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERAMPLIFIERCONTROL_H
 
#include <yarp/dev/IAmplifierControl.h>
 
#include "ControlBoardWrapperCommon.h"
 
class ControlBoardWrapperAmplifierControl :
        virtual public ControlBoardWrapperCommon,
        public yarp::dev::IAmplifierControl
{
public:
    bool enableAmp(int j) override;
    bool disableAmp(int j) override;
    bool getAmpStatus(int* st) override;
    bool getAmpStatus(int j, int* v) override;
    inline bool getCurrent(int m, double *curr) override { return ControlBoardWrapperCommon::getCurrent(m, curr); }
    inline bool getCurrents(double *currs) override { return ControlBoardWrapperCommon::getCurrents(currs); }
    bool setMaxCurrent(int j, double v) override;
    bool getMaxCurrent(int j, double* v) override;
    bool getNominalCurrent(int m, double* val) override;
    bool setNominalCurrent(int m, const double val) override;
    bool getPeakCurrent(int m, double* val) override;
    bool setPeakCurrent(int m, const double val) override;
    bool getPWM(int m, double* val) override;
    bool getPWMLimit(int m, double* val) override;
    bool setPWMLimit(int m, const double val) override;
    bool getPowerSupplyVoltage(int m, double* val) override;
};
 
#endif // YARP_DEV_CONTROLBOARDWRAPPER_CONTROLBOARDWRAPPERAMPLIFIERCONTROL_H