Object Oriented Mobile Robot Model (OOMRM) C++ Library 4.1

00001 /* 
00002 Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2005  Derek Jones
00003 
00004 This library is free software; you can redistribute it  and/or
00005 modify it under the terms of the GNU Lesser General Public
00006 License  as published by the Free Software Foundation; either
00007 version 2.1 of the  License, or (at your option) any later version.
00008 
00009 This library is  distributed in the hope that it will be useful,
00010 but WITHOUT ANY WARRANTY;  without even the implied warranty of
00011 MERCHANTABILITY or FITNESS FOR A  PARTICULAR PURPOSE.  See the GNU
00012 Lesser General Public License for more  details.
00013 
00014 You should have received a copy of the GNU Lesser General  Public
00015 License along with this library; if not, write to the Free  Software
00016 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA
00017 
00018 */
00019 #ifndef _H_OPWM
00020 #define _H_OPWM
00021 #include <hardware/base/bpwm.h>
00023 
00055 #ifdef DOS
00056 class oPWM : public bPWM
00057 {
00058 public:
00059   friend void Sim_Handler(void*);
00060   void operate(bool oper);
00061   oPWM(IOLINE channel, uint8 subclass=0);           // TPU channel
00062   MICROSECOND get_hightime(void);               
00063   MICROSECOND get_lowtime(void);                
00064   bool operate(void) const;
00065   void WSwrite(void);                   
00066   uint8 Label;
00067 protected:
00068   oPWM();
00069   bool _operate;
00070 };
00071 #else
00072 typedef bPWM oPWM;
00073 #endif
00074 #endif
opwm.h
