hydromhipa10arcnet/unitconverter.h

00001 /*************************************************************************
00002         
00003         date            : August 2008
00004         copyright       : (C) 2005 J.D. Yamokoski
00005         email   : yamokosk+gnu at gmail dot com
00006 
00007  This library is free software; you can redistribute it and/or
00008  modify it under the terms of the GNU Lesser General Public License as
00009  published by the Free Software Foundation; either version 2.1 of the License,
00010  or (at your option) any later version. The text of the GNU Lesser General
00011  Public License is included with this library in the file LICENSE.TXT.
00012  
00013  This library is distributed in the hope that it will be useful, but WITHOUT
00014  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
00015  or FITNESS FOR A PARTICULAR PURPOSE. See the file LICENSE.TXT for
00016  more details.
00017  
00018  *************************************************************************/
00019 
00020 #ifndef HYDRO_MHIPA10_UNITCONVERTER_H
00021 #define HYDRO_MHIPA10_UNITCONVERTER_H
00022 
00023 #include <stdint.h>
00024 
00025 namespace mhipa10arc
00026 {
00027 
00028 //
00029 // @brief convert between S.I. units and MHI counts
00030 //
00031 // @author J.D. Yamokoski
00032 //
00033 
00034 // Counts -> S.I. units
00036 double angleFromCounts( int32_t counts );
00038 float speedFromCounts( int16_t counts );
00040 float torqueFromCounts( unsigned int servoNum, int16_t counts );
00041 
00042 // S.I. units -> counts
00044 int16_t torqueToCounts(unsigned int servoNum, float value);
00046 int16_t speedToCounts(float value);
00047 
00048 
00049 }
00050 
00051 #endif