TECHandler.h

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/*
 * TECHandler.h
 *
 *  Created on: May 28, 2014
 *      Author: mitycam
 */
 
#ifndef TECHANDLER_H_
#define TECHANDLER_H_
 
#include "Utility/PIDControl.h"
 
#include "AbstractHandler.h"
 
namespace SocCamera
{
 
class tcTECHandler: public tcAbstractHandler
{
public:
    enum teTECHandler
    {
        eeSetEnable,
        eeSetTarget,
        eeGetState
    };
 
    tcTECHandler(tcPIDControl *apController, tcAbstractHandler *apNextHandler = NULL, std::map<std::string, tcAbstractHandler*> *apMap = NULL);
 
    virtual std::string execute(std::string& arCommandString,
        std::string& arParameters);
 
    virtual teNackCode execute(teTECHandler aeType, float &arValue, bool &arEnabled);
 
    void setPID(float anP, float anI, float anD);
 
    void getPID(float &arP, float &arI, float &arD);
 
    float getDutyCycle();
 
private:
    tcPIDControl *mpController;
};
 
}
 
#endif /* TECHANDLER_H_ */