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roller.h
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roller.h
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/* roller.h
*
* Copyright (c) 2011, 2012 Chantilly Robotics <[email protected]>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
* ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
* ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
* OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
*/
/*
* Control the roller system.
*/
#ifndef ROLLER_H_INC
#define ROLLER_H_INC
#include <Relay.h>
class roller_t {
public:
enum direction {
OFF = 0,
UP,
DOWN
};
roller_t(Relay&, Relay&);
~roller_t();
void set_direction(direction);
direction get_direction();
private:
Relay* spike1;
Relay* spike2;
void update();
unsigned char m_direction;
static void update_helper(void*);
roller_t() {}
};
#endif