/*!
 * @file  MotorControlPro.idl
 * @brief MotorControlPro IDL file
 *
 * @author Yusuke Nakajima (y.nakajima@aist.go.jp)
 * 
 *
 * Copyright (c) 2008, National Institute of Advanced Industrial Science and Technology (AIST).
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 */
 
interface Motor {
	
	// -- InventGUI -- //
	
	/*!
		@brief set gain of PD control 
		@param PGainL : P gain (LeftWheel) of PD control
		@param PGainR : P gain (RightWheel) of PD control
		@param DGainL : D gain (LeftWheel) of PD control
		@param DGainR : D gain (RightWheel) of PD control
		@return void				
	*/
	void setPDGain(in double PGainL, in double PGainR, in double DGainL, in double DGainR);
	//!	@brief start Component
	void Start();
	//!	@brief finish Component
	void Finish();
	//!	@brief clear Component
	void Clear();

	// -- Obstacle Bump -- //
	
	//@brief Ruggedness detection
	void Stop();
	
};
