RobotKit/RKBackEMFData.h

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//
//  RKBackEMFData.h
//  RobotKit
//
//  Created by Brian Smith on 7/12/11.
//  Copyright 2011 Orbotix Inc. All rights reserved.
//

#import <Foundation/Foundation.h>
#import <RobotKit/RKSensorData.h>

struct RKBackEMF {
    int16_t rightMotor; 
    int16_t leftMotor;  
};

typedef struct RKBackEMF RKBackEMF;

struct RKBackEMFState {
    BOOL rightMotorValid; 
    BOOL leftMotorValid; 
    BOOL rightMotorRawValid; 
    BOOL leftMotorRawValid; 
};

typedef struct RKBackEMFState RKBackEMFState;

@interface RKBackEMFData : RKSensorData {
    @private
    RKBackEMF       backEMF;
    RKBackEMF       backEMFRaw;
    RKBackEMFState  state;
}

@property (nonatomic, readonly) RKBackEMF backEMF;
@property (nonatomic, readonly) RKBackEMF backEMFRaw;
@property (nonatomic, readonly) RKBackEMFState state;

@end