SpeedControl.h

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#ifndef SPEEDCONTROL_H_
#define SPEEDCONTROL_H_

#include "component/SyncComponent.h"

class Timestamp;
class UniversalDataReader;

class SpeedControl : public SyncControlComponent
{
public:

    SpeedControl( const Module* module );

    virtual ~SpeedControl();

    void initialize( void );

    void run();

    void uninitialize( void );

private:

    // Note that the copy constructor below is private and not given a body.
    // Any attempt to call it will return a compiler error.
    SpeedControl( const SpeedControl& old ); // disallow copy constructor

    bool ok_;

    float propPitch_;

    float propOmegaMargin_;

    bool readConfig( void );

    void controlSpeed();

    float calcPropOmga( float speedMetersPerSec );

    void setSpeed( float speedCmd );

    DataReader *speedCmdReader_;

    ConfigReader *propPitchCfgReader_;

    UniversalDataReader *speedReader_;

    DataWriter *propOmegaActionWriter_;

};

#endif /*SAMPLECOMPONENT_H_*/