CopterMotor.cpp

#include "CopterMotor.hpp"

CopterMotor::CopterMotor(int motorMin, int motorMax, const QString& _ctrlPath, const QString& name) :
	m_ctrlFile(_ctrlPath),
	m_powerMin(motorMin),
	m_powerMax(motorMax),
	m_power(0),
	m_name(name)
{
	invoke(0);
}

void CopterMotor::invoke(int _power)
{
	QString s;
	m_ctrlFile.open(QIODevice::WriteOnly|QIODevice::Truncate|QIODevice::Unbuffered|QIODevice::Text);
	float powerFactor = (float)(m_powerMax - m_powerMin) / 100;
	s.sprintf("%d\n", static_cast<int>(_power * powerFactor + m_powerMin));
	m_ctrlFile.write(s.toLatin1());
	m_ctrlFile.close();
}

CopterMotor::~CopterMotor()
{
	invoke(0);
}

void CopterMotor::emergencyStop()
{
	invoke(0);
}

void CopterMotor::setPower(int power)
{
	int powerMin = m_settings->value("PowerMin").toInt();
	int powerMax = m_settings->value("PowerMax").toInt();

	m_power = power;
	m_power = qMax(qMin(m_power, powerMax), powerMin);
	emit toLog(m_name + "motor power changed: " + QString::number(m_power));

	invoke(m_power);
}

void CopterMotor::adjustPower(int adj)
{
	setPower(m_power + adj);
}