PeripheralController.hpp

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

class PeripheralController : public IPeripheralController
{
private:
    int servo_bus_fd_;
    int motor_bus_fd_;
    int servo_addr_;
    int motor_addr_;
 
public:
    PeripheralController(int servo_addr, int motor_addr);
    ~PeripheralController() override;
    int i2c_smbus_write_byte_data(int file, uint8_t command, uint8_t value) override;
    int i2c_smbus_read_byte_data(int file, uint8_t command) override;
    virtual void write_byte_data(int fd, int reg, int value) override;
    virtual int read_byte_data(int fd, int reg) override;
    void set_servo_pwm(int channel, int on_value, int off_value) override;
    void set_motor_pwm(int channel, int value) override;
    void init_servo() override;
    void init_motors() override;
    
};
 
#endif // PERIPHERALCONTROLLER_HPP