ci_footbot_turret_actuator.h

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#ifndef CCI_FOOTBOT_TURRET_ACTUATOR_H
#define CCI_FOOTBOT_TURRET_ACTUATOR_H

namespace argos {
   class CCI_FootBotTurretActuator;
}

#include <argos3/core/control_interface/ci_actuator.h>
#include <argos3/core/utility/math/angles.h>

namespace argos {

   class CCI_FootBotTurretActuator : virtual public CCI_Actuator {

   public:

      enum ETurretModes {
         MODE_OFF,
         MODE_PASSIVE,
         MODE_SPEED_CONTROL,
         MODE_POSITION_CONTROL
      };

   public:

      static const CRange<SInt32> SPEED_RANGE;
      static const CRange<Real>   NORMALIZED_SPEED_RANGE;

   public:

      virtual ~CCI_FootBotTurretActuator() {}

      virtual void SetRotation(const CRadians& c_angle) = 0;

      virtual void SetRotationSpeed(SInt32 n_speed_pulses) = 0;

      virtual void SetMode(ETurretModes e_mode) = 0;

      void SetActiveWithRotation(const CRadians& c_angle);

      void SetSpeedControlMode();

      void SetPositionControlMode();

      void SetPassiveMode();

#ifdef ARGOS_WITH_LUA
      virtual void CreateLuaState(lua_State* pt_lua_state);
#endif
   };

}

#endif