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mrpt::hwdrivers::CTuMicos Class Reference

This class implements initialization and comunication methods to control a Tilt Unit model DT-80, working in radians . More...

#include <mrpt/hwdrivers/CTuMicos.h>

Inheritance diagram for mrpt::hwdrivers::CTuMicos:

mrpt::hwdrivers::CPtuBase

List of all members.

Public Member Functions

 CTuMicos ()
 Default constructor.
virtual ~CTuMicos ()
 Destructor.
bool moveToAbsPos (char axis, double nRad)
 Specification of positions in absolute terms.
bool absPosQ (char axis, double &nRad)
 Query position in absolute terms.
bool moveToOffPos (char axis, double nRad)
 Specify desired axis position as an offset from the current position.
bool offPosQ (char axis, double &nRad)
 Query position in relative terms.
bool maxPosQ (char axis, double &nRad)
 Query max movement limit of a axis in absolute terms.
bool minPosQ (char axis, double &nRad)
 Query min movement limit of a axis in absolute terms.
bool enableLimitsQ (bool &enable)
 Query if exist movement limits.
bool enableLimits (bool set)
 Enable/Disable movement limits.
bool inmediateExecution (bool set)
 With I mode (default) instructs pan-tilt unit to immediately execute positional commands.
bool aWait (void)
 Wait the finish of the last position command to continue accept commands.
bool haltAll ()
 Inmediately stop all.
bool halt (char axis)
 Inmediately stop.
bool speed (char axis, double radSec)
 Specification of turn speed.
bool speedQ (char axis, double &radSec)
 Query turn speed.
bool aceleration (char axis, double radSec2)
 Specification (de/a)celeration in turn.
bool acelerationQ (char axis, double &radSec2)
 Query (de/a)celeration in turn.
bool baseSpeed (char axis, double radSec)
 Specification of velocity to which start and finish the (de/a)celeration.
bool baseSpeedQ (char axis, double &radSec)
 Query velocity to which start and finish the (de/a)celeration.
bool upperSpeed (char axis, double radSec)
 Specification of velocity upper limit.
bool upperSpeedQ (char axis, double &radSec)
 Query velocity upper limit.
bool lowerSpeed (char axis, double radSec)
 Specification of velocity lower limit.
bool lowerSpeedQ (char axis, double &radSec)
 Query velocity lower limit.
bool reset (void)
 Reset PTU to initial state.
bool save (void)
 Save or restart default values.
bool restoreDefaults (void)
 Restore default values.
bool restoreFactoryDefaults (void)
 Restore factory default values.
bool version (char *nVersion)
 Version and CopyRights.
void nversion (double &nVersion)
 Number of version.
bool powerModeQ (bool transit, char &mode)
 Query power mode.
bool powerMode (bool transit, char mode)
 Specification of power mode.
bool clear ()
 Clear controller internal stack.
bool setLimits (char axis, double &l, double &u)
 Set limits of movement.
bool changeMotionDir ()
int checkErrors ()
 Check errors, returns 0 if there are not errors or error code otherwise.
void clearErrors ()
 Clear errors.
bool init (const std::string port)
 PTU and serial port initialization.
void close ()
 Close conection with serial port.
double radError (char axis, double nRadMoved)
 To obtains the mistake for use discrete values when the movement is expressed in radians.
long radToPos (char axis, double nRad)
 To obtain the discrete value for a number of radians.
double posToRad (char axis, long nPos)
 To obtain the number of radians for a discrete value.
bool scan (char axis, int wait, float initial, float final, double radPre)
 Performs a scan in the axis indicated and whit the precision desired.
bool verboseQ (bool &modo)
 Query verbose mode.
bool verbose (bool set)
 Set verbose.
bool echoModeQ (bool &mode)
 Query echo mode.
bool echoMode (bool mode)
 Enable/Disable echo response with command.
bool resolution (void)
 Query the pan and tilt resolution per position moved and initialize local atributes.
double status (double &rad)
 Check if ptu is moving.

Public Attributes

int axis_index

Private Member Functions

bool transmit (const char *command)
 To transmition commands to the PTU.
bool receive (const char *command, char *response)
 To receive the responseof the PTU.
bool radQuerry (char axis, char command, double &nRad)
 Used to obtains a number of radians.
bool radAsign (char axis, char command, double nRad)
 Method used for asign a number of radians with a command.
double convertToDouble (char *sDouble)
 Convert string to double.
long convertToLong (char *sLong)
 Convert string to long.


Detailed Description

This class implements initialization and comunication methods to control a Tilt Unit model DT-80, working in radians .

Definition at line 42 of file CTuMicos.h.


Constructor & Destructor Documentation

mrpt::hwdrivers::CTuMicos::CTuMicos (  )  [inline]

Default constructor.

Definition at line 49 of file CTuMicos.h.

virtual mrpt::hwdrivers::CTuMicos::~CTuMicos (  )  [inline, virtual]

Destructor.

Definition at line 53 of file CTuMicos.h.


Member Function Documentation

bool mrpt::hwdrivers::CTuMicos::absPosQ ( char  axis,
double &  nRad 
) [virtual]

Query position in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::aceleration ( char  axis,
double  radSec2 
) [virtual]

Specification (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::acelerationQ ( char  axis,
double &  radSec2 
) [virtual]

Query (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::aWait ( void   )  [virtual]

Wait the finish of the last position command to continue accept commands.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::baseSpeed ( char  axis,
double  radSec 
) [virtual]

Specification of velocity to which start and finish the (de/a)celeration.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::baseSpeedQ ( char  axis,
double &  radSec 
) [virtual]

Query velocity to which start and finish the (de/a)celeration.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::changeMotionDir (  )  [virtual]

int mrpt::hwdrivers::CTuMicos::checkErrors (  )  [virtual]

Check errors, returns 0 if there are not errors or error code otherwise.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::clear (  ) 

Clear controller internal stack.

void mrpt::hwdrivers::CTuMicos::clearErrors (  )  [inline, virtual]

Clear errors.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 232 of file CTuMicos.h.

void mrpt::hwdrivers::CTuMicos::close (  )  [virtual]

Close conection with serial port.

Implements mrpt::hwdrivers::CPtuBase.

double mrpt::hwdrivers::CTuMicos::convertToDouble ( char *  sDouble  )  [private]

Convert string to double.

long mrpt::hwdrivers::CTuMicos::convertToLong ( char *  sLong  )  [private]

Convert string to long.

bool mrpt::hwdrivers::CTuMicos::echoMode ( bool  mode  )  [virtual]

Enable/Disable echo response with command.


        Example of use (EE supposed):
                PP * 22
                ED *
                <pp entered again, but not echoed>* 22

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::echoModeQ ( bool &  mode  )  [virtual]

Query echo mode.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::enableLimits ( bool  set  )  [virtual]

Enable/Disable movement limits.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::enableLimitsQ ( bool &  enable  )  [virtual]

Query if exist movement limits.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::halt ( char  axis  )  [virtual]

Inmediately stop.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::haltAll (  )  [virtual]

Inmediately stop all.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::init ( const std::string  port  )  [virtual]

PTU and serial port initialization.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::inmediateExecution ( bool  set  )  [virtual]

With I mode (default) instructs pan-tilt unit to immediately execute positional commands.


In S mode instructs pan-tilt unit to execute positional commands only when an Await Position Command Completion command is executed or when put into Immediate Execution Mode.

        Example of use of S mode:
                DR *
                S *
                PP1500 *
                TP-900 *
                PP * Current Pan position is 0
                TP * Current Tilt position is 0
                A *
                PP * Current Pan position is 1500
                TP * Current Tilt position is -900

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::lowerSpeed ( char  axis,
double  radSec 
) [virtual]

Specification of velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::lowerSpeedQ ( char  axis,
double &  radSec 
) [virtual]

Query velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::maxPosQ ( char  axis,
double &  nRad 
) [virtual]

Query max movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::minPosQ ( char  axis,
double &  nRad 
) [virtual]

Query min movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::moveToAbsPos ( char  axis,
double  nRad 
) [virtual]

Specification of positions in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::moveToOffPos ( char  axis,
double  nRad 
) [virtual]

Specify desired axis position as an offset from the current position.


This method recives the number of radians to move.

        Example of use:
                TT-500 *
                A *
                TO * Current Tilt position is -500
                TO500 *
                A *
                TT * Current Pan position is 1000 

Implements mrpt::hwdrivers::CPtuBase.

void mrpt::hwdrivers::CTuMicos::nversion ( double &  nVersion  )  [virtual]

Number of version.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::offPosQ ( char  axis,
double &  nRad 
) [virtual]

Query position in relative terms.

Implements mrpt::hwdrivers::CPtuBase.

double mrpt::hwdrivers::CTuMicos::posToRad ( char  axis,
long  nPos 
) [virtual]

To obtain the number of radians for a discrete value.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::powerMode ( bool  transit,
char  mode 
) [virtual]

Specification of power mode.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::powerModeQ ( bool  transit,
char &  mode 
) [virtual]

Query power mode.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::radAsign ( char  axis,
char  command,
double  nRad 
) [private, virtual]

Method used for asign a number of radians with a command.

Implements mrpt::hwdrivers::CPtuBase.

double mrpt::hwdrivers::CTuMicos::radError ( char  axis,
double  nRadMoved 
) [virtual]

To obtains the mistake for use discrete values when the movement is expressed in radians.

Parameters are the absolute position in radians and the axis desired

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::radQuerry ( char  axis,
char  command,
double &  nRad 
) [private, virtual]

Used to obtains a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

long mrpt::hwdrivers::CTuMicos::radToPos ( char  axis,
double  nRad 
) [virtual]

To obtain the discrete value for a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::receive ( const char *  command,
char *  response 
) [private, virtual]

To receive the responseof the PTU.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::reset ( void   )  [virtual]

Reset PTU to initial state.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::resolution ( void   )  [virtual]

Query the pan and tilt resolution per position moved and initialize local atributes.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::restoreDefaults ( void   )  [virtual]

Restore default values.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::restoreFactoryDefaults ( void   )  [virtual]

Restore factory default values.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::save ( void   )  [virtual]

Save or restart default values.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::scan ( char  axis,
int  wait,
float  initial,
float  final,
double  radPre 
) [virtual]

Performs a scan in the axis indicated and whit the precision desired.


Parameters:
<axis> {Pan or Till}
<tWait> {Wait time betwen commands}
<initial> {initial position}
<final> {final position}
<radPre> {radians precision for the scan}

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::setLimits ( char  axis,
double &  l,
double &  u 
) [virtual]

Set limits of movement.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::speed ( char  axis,
double  radSec 
) [virtual]

Specification of turn speed.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::speedQ ( char  axis,
double &  radSec 
) [virtual]

Query turn speed.

Implements mrpt::hwdrivers::CPtuBase.

double mrpt::hwdrivers::CTuMicos::status ( double &  rad  )  [virtual]

Check if ptu is moving.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::transmit ( const char *  command  )  [private, virtual]

To transmition commands to the PTU.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::upperSpeed ( char  axis,
double  radSec 
) [virtual]

Specification of velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::upperSpeedQ ( char  axis,
double &  radSec 
) [virtual]

Query velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::verbose ( bool  set  )  [virtual]

Set verbose.


Example of response with FV (verbose) active: FV * PP * Current pan position is 0 Example of response with FT (terse) active: FT * PP * 0

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::verboseQ ( bool &  modo  )  [virtual]

Query verbose mode.

Implements mrpt::hwdrivers::CPtuBase.

bool mrpt::hwdrivers::CTuMicos::version ( char *  nVersion  )  [virtual]

Version and CopyRights.

Implements mrpt::hwdrivers::CPtuBase.


Member Data Documentation

Definition at line 349 of file CTuMicos.h.




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