23 #ifndef _PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_
24 #define _PLUGINS_KATANA_MOTOR_CONTROL_THREAD_H_
26 #include "motion_thread.h"
33 unsigned int poll_interval_ms);
35 virtual void set_encoder(
unsigned int nr,
int value,
bool inc =
false);
36 virtual void set_angle(
unsigned int nr,
float value,
bool inc =
false);
53 bool is_encoder_, is_inc_;
54 unsigned int poll_interval_usec_;
Katana motion thread base class.
Katana motor control thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
KatanaMotorControlThread(fawkes::RefPtr< fawkes::KatanaController > katana, fawkes::Logger *logger, unsigned int poll_interval_ms)
Constructor.
virtual void once()
Execute an action exactly once.
virtual void set_encoder(unsigned int nr, int value, bool inc=false)
Set target encoder value.
virtual void set_angle(unsigned int nr, float value, bool inc=false)
Set target angle value.