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:

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]

Implements mrpt::hwdrivers::CPtuBase.

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

int mrpt::hwdrivers::CTuMicos::axis_index

Definition at line 349 of file CTuMicos.h.