mrpt::hwdrivers::CServoeNeck Class Reference

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Detailed Description

Definition at line 40 of file CServoeNeck.h.

#include <mrpt/hwdrivers/CServoeNeck.h>

Inheritance diagram for mrpt::hwdrivers::CServoeNeck:

List of all members.

Public Member Functions
	CServoeNeck ()
	~CServoeNeck ()
bool	queryFirmwareVersion (std::string &out_firmwareVersion)
	Gets the firmware version of the eNeck board.
bool	getCurrentAngle (double &angle, const uint8_t servo=0)
	Gets the current angle of the servo (in radians within (-pi,pi))
bool	setAngle (double angle, const uint8_t servo=0, bool fast=false)
	Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum)
bool	setAngleWithFilter (double angle, const uint8_t servo=0, bool fast=false)
	Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles.
bool	disableServo (const uint8_t servo=0)
	Disables the servo so the neck will be loose.
bool	enableServo (const uint8_t servo=0)
	Enables the servo so the neck will be tight.
bool	center (const uint8_t servo=0)
	Centers the servo at zero position.
double	getTruncateFactor ()
	Gets the truncate factor of the turn.
void	setTruncateFactor (const double factor)
	Gets the truncate factor of the turn.
void	setNumberOfPreviousAngles (const unsigned int number)
	Gets the truncate factor of the turn.
unsigned int	getNumberOfPreviousAngles ()
	Gets the truncate factor of the turn.
Protected Member Functions
bool	setRegisterValue (const uint16_t value, const uint8_t servo=0, bool fast=false)
bool	getRegisterValue (uint16_t &value, const uint8_t servo=0)
Protected Attributes
std::string	m_usbSerialNumber
	A copy of the device serial number (to open the USB FTDI chip).
double	m_MaxValue
	The value set in the ICR register within the ATMEGA16 controller.
double	m_TruncateFactor
	The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)".
std::deque< double >	m_PrevAngles
	A vector containing the last N angles which where passed to the servo (for averaging)
unsigned int	m_NumPrevAngles
	Number of previous angles to store for averaging.
Private Member Functions
unsigned int	angle2RegValue (const double angle)
	Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only).
double	regValue2angle (const uint16_t value)
	Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only).
bool	checkConnectionAndConnect ()
	Tries to connect to the USB device (if disconnected).

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Constructor & Destructor Documentation

mrpt::hwdrivers::CServoeNeck::CServoeNeck

(

)

mrpt::hwdrivers::CServoeNeck::~CServoeNeck

(

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Member Function Documentation

unsigned int mrpt::hwdrivers::CServoeNeck::angle2RegValue

(

const double

angle )

[private]

Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only).

Parameters:

The	angle to convert.

Returns:

The value of the register to send.

bool mrpt::hwdrivers::CServoeNeck::center

(

const uint8_t

servo = 0 )

Centers the servo at zero position.

bool mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect

(

)

[private]

Tries to connect to the USB device (if disconnected).

Returns:

True on connection OK, false on error.

bool mrpt::hwdrivers::CServoeNeck::disableServo

(

const uint8_t

servo = 0 )

Disables the servo so the neck will be loose.

Parameters:

Servo,:

the id of the servo to move (in our ATMEGA16, from 0 to 2).

Returns:

Whether or not the procedure succeded.

bool mrpt::hwdrivers::CServoeNeck::enableServo

(

const uint8_t

servo = 0 )

Enables the servo so the neck will be tight.

Parameters:

Servo,:

the id of the servo to move (in our ATMEGA16, from 0 to 2).

Returns:

Whether or not the procedure succeded.

bool mrpt::hwdrivers::CServoeNeck::getCurrentAngle	(	double &	angle,
		const uint8_t	servo = 0
	)

Gets the current angle of the servo (in radians within (-pi,pi))

Parameters:

Angle,:	[OUT] The current angle.
Servo,:	[IN] The id of the servo (in our ATMEGA16, from 0 to 2).

Returns:

Whether or not the procedure succeded.

unsigned int mrpt::hwdrivers::CServoeNeck::getNumberOfPreviousAngles

(

)

[inline]

Gets the truncate factor of the turn.

Definition at line 105 of file CServoeNeck.h.

bool mrpt::hwdrivers::CServoeNeck::getRegisterValue	(	uint16_t &	value,
		const uint8_t	servo = 0
	)		[protected]

double mrpt::hwdrivers::CServoeNeck::getTruncateFactor

(

)

[inline]

Gets the truncate factor of the turn.

Definition at line 93 of file CServoeNeck.h.

bool mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion

(

std::string &

out_firmwareVersion )

Gets the firmware version of the eNeck board.

Parameters:

out_firmwareVersion,:

[OUTPUT] A string containing the firmware version.

Returns:

Whether or not the procedure succeded.

double mrpt::hwdrivers::CServoeNeck::regValue2angle

(

const uint16_t

value )

[private]

Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only).

Parameters:

The	value to convert.

Returns:

The corresponding angle.

bool mrpt::hwdrivers::CServoeNeck::setAngle	(	double	angle,
		const uint8_t	servo = 0,
		bool	fast = false
	)

Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum)

Parameters:

Angle,:	the desired angle to turn.
Servo,:	the id of the servo to move (in our ATMEGA16, from 0 to 2).
Fast,:	indicates if the servo must reach the angle at maximum speed

Returns:

Whether or not the procedure succeded.

bool mrpt::hwdrivers::CServoeNeck::setAngleWithFilter	(	double	angle,
		const uint8_t	servo = 0,
		bool	fast = false
	)

Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles.

Parameters:

Angle,:	the new desired angle to turn.
Servo,:	the id of the servo to move (in our ATMEGA16, from 0 to 2).
Fast,:	indicates if the servo must reach the angle at maximum speed

Returns:

Whether or not the procedure succeded.

void mrpt::hwdrivers::CServoeNeck::setNumberOfPreviousAngles

(

const unsigned int

number )

[inline]

Gets the truncate factor of the turn.

Definition at line 101 of file CServoeNeck.h.

bool mrpt::hwdrivers::CServoeNeck::setRegisterValue	(	const uint16_t	value,
		const uint8_t	servo = 0,
		bool	fast = false
	)		[protected]

void mrpt::hwdrivers::CServoeNeck::setTruncateFactor

(

const double

factor )

[inline]

Gets the truncate factor of the turn.

Definition at line 97 of file CServoeNeck.h.

References ASSERT_.

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Member Data Documentation

double mrpt::hwdrivers::CServoeNeck::m_MaxValue [protected]

The value set in the ICR register within the ATMEGA16 controller.

Definition at line 109 of file CServoeNeck.h.

unsigned int mrpt::hwdrivers::CServoeNeck::m_NumPrevAngles [protected]

Number of previous angles to store for averaging.

Definition at line 112 of file CServoeNeck.h.

std::deque<double> mrpt::hwdrivers::CServoeNeck::m_PrevAngles [protected]

A vector containing the last N angles which where passed to the servo (for averaging)

Definition at line 111 of file CServoeNeck.h.

double mrpt::hwdrivers::CServoeNeck::m_TruncateFactor [protected]

The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)".

Definition at line 110 of file CServoeNeck.h.

std::string mrpt::hwdrivers::CServoeNeck::m_usbSerialNumber [protected]

A copy of the device serial number (to open the USB FTDI chip).

Definition at line 108 of file CServoeNeck.h.