00001 #ifndef HI_TURNTABLE_H
00002 #define HI_TURNTABLE_H
00003
00004 #include "Device/DVDeviceManager.h"
00005 #include "Device/DVDaBase.h"
00006 #include "Device/DVOrientationBase.h"
00007 #include <vector>
00008
00009 namespace Spr {;
00010
00011
00012 class SPR_DLL HITurnTable{
00013 public:
00014 DVOrientationBase* oriSensor;
00015 DVDaBase* da;
00016 bool bControl;
00017
00018 HITurnTable();
00019 virtual ~HITurnTable();
00020
00021 bool Init(DVDeviceManager& dev);
00022 void Stop();
00023 void Start();
00024 void Step(float);
00025 void Reset();
00026 float GetAngle(){return angle;}
00027 float GetTurnVel(){ return turnVel; }
00028
00029 void PrintData(std::ostream& os) const;
00030 bool printTurnData;
00031
00032 private:
00033 float angle;
00034 float nowAngle , startAngle;
00035 float turnVel;
00036 unsigned long dwTime, dwLastTime;
00037
00038 float printOriAngle;
00039 float printPressureAngle;
00040 };
00041
00042 }
00043 #endif
