IPeripheralController.hpp

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#ifndef IPERIPHERALCONTROLLER_HPP
#define IPERIPHERALCONTROLLER_HPP
 
#include <QDebug>
#include <QObject>
#include <cmath>
#include <fcntl.h>
#include <linux/i2c-dev.h>
#include <sys/ioctl.h>
#include <unistd.h>

class IPeripheralController {
public:
    virtual ~IPeripheralController() = default;
 
    virtual int i2c_smbus_write_byte_data(int file, uint8_t command,
                                                                                uint8_t value) = 0;
    virtual int i2c_smbus_read_byte_data(int file, uint8_t command) = 0;
 
    virtual void write_byte_data(int fd, int reg, int value) = 0;
    virtual int read_byte_data(int fd, int reg) = 0;
 
    virtual void set_servo_pwm(int channel, int on_value, int off_value) = 0;
    virtual void set_motor_pwm(int channel, int value) = 0;
 
    virtual void init_servo() = 0;
    virtual void init_motors() = 0;
};
 
#endif