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<div class="title">CServoeNeck.h</div> </div>
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<a href="_c_servoe_neck_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CServoeNeck_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CServoeNeck_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="hwdrivers_2include_2mrpt_2hwdrivers_2link__pragmas_8h.html">mrpt/hwdrivers/link_pragmas.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_interface_f_t_d_i_messages_8h.html">mrpt/hwdrivers/CInterfaceFTDIMessages.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>hwdrivers
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment"> /** A USB-interface for a custom "robotic neck" designed at MAPIR lab.</span>
<a name="l00042"></a>00042 <span class="comment"> * \ingroup mrpt_hwdrivers_grp */</span>
<a name="l00043"></a>00043 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CServoeNeck : <span class="keyword">public</span> hwdrivers::<a class="code" href="namespacemrpt_1_1hwdrivers.html#af7e1ea0f36e03794e47ae5c5b23ef6ad" title="Since MRPT 0.9.1 this class has no extra functionality, since the methods for sending/receiving messa...">CInterfaceFTDIMessages</a>
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">public</span>:
<a name="l00046"></a>00046 CServoeNeck();
<a name="l00047"></a>00047 ~CServoeNeck();
<a name="l00048"></a>00048 <span class="comment"></span>
<a name="l00049"></a>00049 <span class="comment"> /** Gets the firmware version of the eNeck board.</span>
<a name="l00050"></a>00050 <span class="comment"> * \param out_firmwareVersion: [OUTPUT] A string containing the firmware version.</span>
<a name="l00051"></a>00051 <span class="comment"> * \return Whether or not the procedure succeded.</span>
<a name="l00052"></a>00052 <span class="comment"> */</span>
<a name="l00053"></a>00053 <span class="keywordtype">bool</span> queryFirmwareVersion( <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &out_firmwareVersion );
<a name="l00054"></a>00054 <span class="comment"></span>
<a name="l00055"></a>00055 <span class="comment"> /** Gets the current angle of the servo (in radians within (-pi,pi))</span>
<a name="l00056"></a>00056 <span class="comment"> * \param Angle: [OUT] The current angle.</span>
<a name="l00057"></a>00057 <span class="comment"> * \param Servo: [IN] The id of the servo (in our ATMEGA16, from 0 to 2).</span>
<a name="l00058"></a>00058 <span class="comment"> * \return Whether or not the procedure succeded.</span>
<a name="l00059"></a>00059 <span class="comment"> */</span>
<a name="l00060"></a>00060 <span class="keywordtype">bool</span> getCurrentAngle( <span class="keywordtype">double</span> &angle, <span class="keyword">const</span> uint8_t servo = 0 );
<a name="l00061"></a>00061 <span class="comment"></span>
<a name="l00062"></a>00062 <span class="comment"> /** 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)</span>
<a name="l00063"></a>00063 <span class="comment"> * \param Angle: the desired angle to turn.</span>
<a name="l00064"></a>00064 <span class="comment"> * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2).</span>
<a name="l00065"></a>00065 <span class="comment"> * \param Fast: indicates if the servo must reach the angle at maximum speed</span>
<a name="l00066"></a>00066 <span class="comment"> * \return Whether or not the procedure succeded.</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a>00068 <span class="keywordtype">bool</span> setAngle( <span class="keywordtype">double</span> angle, <span class="keyword">const</span> uint8_t servo = 0, <span class="keywordtype">bool</span> fast = <span class="keyword">false</span> );
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles.</span>
<a name="l00071"></a>00071 <span class="comment"> * \param Angle: the new desired angle to turn.</span>
<a name="l00072"></a>00072 <span class="comment"> * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2).</span>
<a name="l00073"></a>00073 <span class="comment"> * \param Fast: indicates if the servo must reach the angle at maximum speed</span>
<a name="l00074"></a>00074 <span class="comment"> * \return Whether or not the procedure succeded.</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a>00076 <span class="keywordtype">bool</span> setAngleWithFilter( <span class="keywordtype">double</span> angle, <span class="keyword">const</span> uint8_t servo = 0, <span class="keywordtype">bool</span> fast = <span class="keyword">false</span> );
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** Disables the servo so the neck will be loose.</span>
<a name="l00079"></a>00079 <span class="comment"> * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2).</span>
<a name="l00080"></a>00080 <span class="comment"> * \return Whether or not the procedure succeded.</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keywordtype">bool</span> disableServo( <span class="keyword">const</span> uint8_t servo = 0 );
<a name="l00083"></a>00083 <span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment"> /** Enables the servo so the neck will be tight.</span>
<a name="l00085"></a>00085 <span class="comment"> * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2).</span>
<a name="l00086"></a>00086 <span class="comment"> * \return Whether or not the procedure succeded.</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a>00088 <span class="keywordtype">bool</span> enableServo( <span class="keyword">const</span> uint8_t servo = 0 );
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Centers the servo at zero position</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a>00092 <span class="keywordtype">bool</span> center( <span class="keyword">const</span> uint8_t servo = 0 );
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** Gets the truncate factor of the turn</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a4a3a142c1b553b73e6e686d14f779ef1">00096</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a4a3a142c1b553b73e6e686d14f779ef1" title="Gets the truncate factor of the turn.">getTruncateFactor</a>(){ <span class="keywordflow">return</span> m_TruncateFactor; }
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** Gets the truncate factor of the turn</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#aec4504222682faddbd4320a1997ef083">00100</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#aec4504222682faddbd4320a1997ef083" title="Gets the truncate factor of the turn.">setTruncateFactor</a>( <span class="keyword">const</span> <span class="keywordtype">double</span> factor ){ <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>( factor > 0 && factor < 1 ); m_TruncateFactor = factor; }
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** Gets the truncate factor of the turn</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a6f813c00c46aa973f4b294e306820919">00104</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a6f813c00c46aa973f4b294e306820919" title="Gets the truncate factor of the turn.">setNumberOfPreviousAngles</a>( <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> number ){ m_NumPrevAngles = number; }
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Gets the truncate factor of the turn</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a2fb36a2df67e7c8fabad484d5368fe62">00108</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a2fb36a2df67e7c8fabad484d5368fe62" title="Gets the truncate factor of the turn.">getNumberOfPreviousAngles</a>(){ <span class="keywordflow">return</span> m_NumPrevAngles; }
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="keyword">protected</span>:
<a name="l00111"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a0c21acb231a48e09a2f2e306b05a5116">00111</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a0c21acb231a48e09a2f2e306b05a5116" title="A copy of the device serial number (to open the USB FTDI chip).">m_usbSerialNumber</a>; <span class="comment">//!< A copy of the device serial number (to open the USB FTDI chip).</span>
<a name="l00112"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a26b04163b66a14fa999d60d3811646a9">00112</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a26b04163b66a14fa999d60d3811646a9" title="The value set in the ICR register within the ATMEGA16 controller.">m_MaxValue</a>; <span class="comment">//!< The value set in the ICR register within the ATMEGA16 controller.</span>
<a name="l00113"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#aed05c2672e4021d2f43b66c9dae56ddb">00113</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#aed05c2672e4021d2f43b66c9dae56ddb" title="The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)".">m_TruncateFactor</a>; <span class="comment">//!< The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)".</span>
<a name="l00114"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a3b11c367612594c093e36a743a51b930">00114</a> <span class="comment"></span> std<a class="code" href="classstd_1_1deque.html">::deque<double></a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#a3b11c367612594c093e36a743a51b930" title="A vector containing the last N angles which where passed to the servo (for averaging)">m_PrevAngles</a>; <span class="comment">//!< A vector containing the last N angles which where passed to the servo (for averaging)</span>
<a name="l00115"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#acf6ac1fe4f998cd3afd4c81e928c3814">00115</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_servoe_neck.html#acf6ac1fe4f998cd3afd4c81e928c3814" title="Number of previous angles to store for averaging.">m_NumPrevAngles</a>; <span class="comment">//!< Number of previous angles to store for averaging</span>
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="keywordtype">bool</span> setRegisterValue( <span class="keyword">const</span> uint16_t value, <span class="keyword">const</span> uint8_t servo = 0, <span class="keywordtype">bool</span> fast = <span class="keyword">false</span> );
<a name="l00118"></a>00118 <span class="keywordtype">bool</span> getRegisterValue( uint16_t &value, <span class="keyword">const</span> uint8_t servo = 0 );
<a name="l00119"></a>00119
<a name="l00120"></a>00120 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00121"></a>00121 <span class="comment"> /** Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only).</span>
<a name="l00122"></a>00122 <span class="comment"> * \param The angle to convert.</span>
<a name="l00123"></a>00123 <span class="comment"> * \return The value of the register to send.</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a>00125 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> angle2RegValue( <span class="keyword">const</span> <span class="keywordtype">double</span> angle ); <span class="comment">// Angle in rad</span>
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment"> /** Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only).</span>
<a name="l00128"></a>00128 <span class="comment"> * \param The value to convert.</span>
<a name="l00129"></a>00129 <span class="comment"> * \return The corresponding angle.</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a>00131 <span class="keywordtype">double</span> regValue2angle( <span class="keyword">const</span> uint16_t value );
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="comment"> /** Tries to connect to the USB device (if disconnected).</span>
<a name="l00134"></a>00134 <span class="comment"> * \return True on connection OK, false on error.</span>
<a name="l00135"></a>00135 <span class="comment"> */</span>
<a name="l00136"></a>00136 <span class="keywordtype">bool</span> checkConnectionAndConnect();
<a name="l00137"></a>00137
<a name="l00138"></a>00138 }; <span class="comment">// End of class</span>
<a name="l00139"></a>00139
<a name="l00140"></a>00140 } <span class="comment">// End of namespace</span>
<a name="l00141"></a>00141
<a name="l00142"></a>00142 } <span class="comment">// End of namespace</span>
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <span class="preprocessor">#endif</span>
</pre></div></div>
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