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mrpt::hwdrivers::CTuMicos Class Reference


Detailed Description

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

Definition at line 43 of file CTuMicos.h.

#include <mrpt/hwdrivers/CTuMicos.h>

Inheritance diagram for mrpt::hwdrivers::CTuMicos:
Inheritance graph
[legend]

List of all members.

Public Member Functions

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

Public Attributes

int axis_index

Private Member Functions

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

Static Private Member Functions

static double convertToDouble (char *sDouble)
 Convert string to double.
static long convertToLong (char *sLong)
 Convert string to long.

Constructor & Destructor Documentation

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

Default constructor.

Definition at line 50 of file CTuMicos.h.

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

Destructor.

Definition at line 54 of file CTuMicos.h.


Member Function Documentation

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

Query position in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

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

Specification (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

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

Query (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

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

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

Implements mrpt::hwdrivers::CPtuBase.

virtual 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.

virtual 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.

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

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

Clear errors.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 237 of file CTuMicos.h.

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

Close conection with serial port.

Implements mrpt::hwdrivers::CPtuBase.

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

Convert string to double.

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

Convert string to long.

virtual 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.

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

Query echo mode.

Implements mrpt::hwdrivers::CPtuBase.

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

Enable/Disable movement limits.

Implements mrpt::hwdrivers::CPtuBase.

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

Query if exist movement limits.

Implements mrpt::hwdrivers::CPtuBase.

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

Inmediately stop.

Implements mrpt::hwdrivers::CPtuBase.

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

Inmediately stop all.

Implements mrpt::hwdrivers::CPtuBase.

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

PTU and serial port initialization.

Implements mrpt::hwdrivers::CPtuBase.

virtual 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.

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

Specification of velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

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

Query velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

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

Query max movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

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

Query min movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

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

Specification of positions in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

virtual 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.

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

Number of version.

Implements mrpt::hwdrivers::CPtuBase.

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

Query position in relative terms.

Implements mrpt::hwdrivers::CPtuBase.

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

To obtain the number of radians for a discrete value.

Implements mrpt::hwdrivers::CPtuBase.

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

Specification of power mode.

Implements mrpt::hwdrivers::CPtuBase.

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

Query power mode.

Implements mrpt::hwdrivers::CPtuBase.

virtual 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.

virtual 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.

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

Used to obtains a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

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

To obtain the discrete value for a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

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

Search limit forward.

Implements mrpt::hwdrivers::CPtuBase.

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

To receive the responseof the PTU.

Implements mrpt::hwdrivers::CPtuBase.

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

Reset PTU to initial state.

Implements mrpt::hwdrivers::CPtuBase.

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

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

Implements mrpt::hwdrivers::CPtuBase.

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

Restore default values.

Implements mrpt::hwdrivers::CPtuBase.

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

Restore factory default values.

Implements mrpt::hwdrivers::CPtuBase.

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

Save or restart default values.

Implements mrpt::hwdrivers::CPtuBase.

virtual 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.

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

Set limits of movement.

Implements mrpt::hwdrivers::CPtuBase.

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

Specification of turn speed.

Implements mrpt::hwdrivers::CPtuBase.

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

Query turn speed.

Implements mrpt::hwdrivers::CPtuBase.

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

Check if ptu is moving.

Implements mrpt::hwdrivers::CPtuBase.

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

To transmition commands to the PTU.

Implements mrpt::hwdrivers::CPtuBase.

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

Specification of velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

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

Query velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

virtual 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.

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

Query verbose mode.

Implements mrpt::hwdrivers::CPtuBase.

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

Version and CopyRights.

Implements mrpt::hwdrivers::CPtuBase.


Member Data Documentation

Definition at line 354 of file CTuMicos.h.




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