/home/benoit/sketchbook/libraries/HerkuleXLib/HkxGroupContRotation.h

Go to the documentation of this file.

#ifndef _HKXGROUPCONTROTATION_H
#define _HKXGROUPCONTROTATION_H

#include "HkxContRotation.h"

class HkxGroupContRotation{
private:
  HkxContRotation** _servos;
  const uint8_t _length;
  HkxCommunication& _herkXCom;
  HkxPrint& _print; 
  const String _className;


  void errorPrint(const String& message){if(_print._errorMessages){_print.errorPrint(_className + message);}};

  void warningPrint(const String& message){if(_print._errorMessages){_print.warningPrint(_className + message);}};

  void infoPrint(const String& message){if(_print._errorMessages){_print.infoPrint(_className + message);}};
public:  
  HkxGroupContRotation(uint8_t length, HkxContRotation* arrayServos[], HkxPrint& print);
  
  HkxContRotation& getServo(uint8_t number){if(number < _length){return *_servos[number];}};

  uint8_t getNbServos(){return this->_length;};

  uint8_t setAllTorqueLEDControl(HkxMaybe<hkxTorqueControl> newTorqueControl, HkxMaybe<hkxLEDControl> newLEDControl);

  uint8_t moveAllRotation(int16_t pwm[], HkxMaybe<uint16_t> playTime, HkxMaybe<hkxLEDControl> LEDControl[]); 

  void rebootAll(){
    for(int i=0 ; i < this->_length ; i++){
      this->_servos[i]->reboot();
    }
  };
};

#endif    // _HKXGROUPCONTROTATION_H