roboteqSC.h

#include <termios.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <pthread.h>
#define SCPATH "/dev/ttyS0"


#define INPUTCTRL     0x00

#define MOTORMODE     0x01

#define AMPLIMIT      0x02

#define ACCELERATION  0x03

#define INPUTSWITCH   0x04

#define BRAKE         0x05

#define JOYDEADBAND   0x06

#define EXPON1        0x07

#define EXPON2        0x08

#define GAININT       0x0F

#define GAINDIFF      0x10

#define GAINPROP      0x11


#ifndef ROBOTEQSC_H
#define ROBOTEQSC_H

class RoboteqSC{
        public:
        enum {
            baudrate = B9600
        };
                enum status {
                        OPEN = 1,
                        CLOSED = 0,
                        ERROR = -1
                };
        
        enum Motor {
            MOTOR0 = 0x41,
            MOTOR1 = 0x42,
            MOTOR0BKW = 0x61,
            MOTOR1BKW = 0x62
        };

                static RoboteqSC * theInstance();
                
                inline status getStatus() {return SCStatus;}
                                
                int openSC();
                
                int closeSC();
        
                int setMotorSpeed(int motor, int speed);
        
                int getPower(int motor);
        
                int getAmps(int motor);
                
                int getControllerTemp();        
                
                int convertTemp(int input);

                int applyParam();

                void resetController();

                int readParamSetting(int param);
                
                int setParam(int param, int value);

        int sem_P();

        int sem_V();

        static void watchDog();

        int openCommand();

        int getfd();

        protected:
                RoboteqSC();
                
                ~RoboteqSC();
        
    private:  
                status SCStatus;
        
                int fd;
        
                struct termios oldttyS;
        
                struct termios newttyS;

                fd_set set;

                struct timeval tv;

        pthread_t scThread; 

        int roboteqsv;
};
#endif //ROBOTEQSC_H

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