00001 #ifndef HIS_RUIKUMA_H
00002 #define HIS_RUIKUMA_H
00003 #include "HIRuiBase.h"
00004 #include <WinBasis/WBComStream.h>
00005
00006 namespace Spr {
00007
00008
00009 class SPR_DLL HIRuiKuma: public HIRuiBase{
00010 private:
00011 int data[6];
00012 unsigned char receiveBuffer[50];
00013 int senddata[6];
00014 unsigned char sendBuffer[50];
00015
00016 protected:
00017 WBComStream com;
00018 WBComStatus comSt;
00019
00020 public:
00021
00022 HIOBJECTDEF(HIRuiKuma);
00023
00024
00025 bool Init();
00026 virtual int NJoint(){return 4;}
00027 virtual float GetJointAngle(int jn);
00028 virtual void SetTorque(int jn, float torque);
00029 virtual void Update(float dt);
00030
00031 };
00032
00033 }
00034 #endif