ArRatioInputRobotJoydrive.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARRATIOINPUTROBOTJOYDRIVE_H
#define ARRATIOINPUTROBOTJOYDRIVE_H

#include "ariaTypedefs.h"
#include "ArActionRatioInput.h"

class ArRobotPacket;
class ArRobot;
class ArRobotJoyHandler;


class ArRatioInputRobotJoydrive 
{
public:
  AREXPORT ArRatioInputRobotJoydrive(ArRobot *robot, 
                     ArActionRatioInput *input,
                     int priority = 75,
                     bool requireDeadmanPushed = true);
  AREXPORT virtual ~ArRatioInputRobotJoydrive();
protected:
  AREXPORT void fireCallback(void);

  ArRobot *myRobot;
  ArActionRatioInput *myInput;
  bool myRequireDeadmanPushed;
  bool myDeadZoneLast;

  ArRobotJoyHandler *myRobotJoyHandler;
  ArFunctorC<ArRatioInputRobotJoydrive> myFireCB;
};

#endif //ARRATIOINPUTROBOTJOYDRIVE_H

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