PTU46::PTU46 Class Reference

PTU46 Pan Tilt Unit Driver Copyright (C) 2009 Erik Karulf (erik@cse.wustl.edu). More...

#include <ptu46_driver.h>

List of all members.

Public Member Functions
float	GetMax (char type)
float	GetMaxSpeed (char type)
float	GetMin (char type)
float	GetMinSpeed (char type)
char	GetMode ()
float	GetPosition (char type)
float	GetResolution (char type)
float	GetSpeed (char type)
bool	isOpen ()
	PTU46 (const char *port, int rate)
bool	SetMode (char type)
bool	SetPosition (char type, float pos, bool Block=false)
bool	SetSpeed (char type, float speed)
	~PTU46 ()
Protected Member Functions
void	Disconnect ()
int	Write (const char *data, int length=0)
Protected Attributes
char	buffer [PTU46_BUFFER_LEN+1]
	read buffer
int	fd
	serial port descriptor
struct termios	oldtio
	old terminal settings
float	pr
	pan resolution (rads/count)
float	tr
	tilt resolution (rads/count)
Private Member Functions
int	GetLimit (char type, char LimType)
float	GetRes (char type)
Private Attributes
int	PMax
	Max Pan in Counts.
int	PMin
	Min Pan in Counts.
int	PSMax
	Max Pan Speed in Counts/second.
int	PSMin
	Min Pan Speed in Counts/second.
int	TMax
	Max Tilt in Counts.
int	TMin
	Min Tilt in Counts.
int	TSMax
	Max Tilt Speed in Counts/second.
int	TSMin
	Min Tilt Speed in Counts/second.

---

Detailed Description

PTU46 Pan Tilt Unit Driver Copyright (C) 2009 Erik Karulf (erik@cse.wustl.edu).

Player - One Hell of a Robot Server Copyright (C) 2000 Brian Gerkey & Kasper Stoy gerkey@usc.edu kaspers@robotics.usc.edu

Id

ptu46.cc 7798 2009-06-06 09:00:59Z thjc

Author: Toby Collett (University of Auckland) Date: 2003-02-10

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA

Definition at line 58 of file ptu46_driver.h.

---

Constructor & Destructor Documentation

PTU46::PTU46::PTU46	(	const char *	port,
		int	rate
	)

Constructor - opens port

Parameters:

	port	Filename where PTU is connected
	rate	rate Baud rate to use

Definition at line 64 of file ptu46_driver.cc.

PTU46::PTU46::~PTU46

(

)

Definition at line 225 of file ptu46_driver.cc.

---

Member Function Documentation

void PTU46::PTU46::Disconnect

(

)

[protected]

Cleanly disconnect

Definition at line 229 of file ptu46_driver.cc.

int PTU46::PTU46::GetLimit	(	char	type,
		char	LimType
	)			[private]

Get limiting position/speed in counts or counts/second

Parameters:

	type	'p' or 't' (pan or tilt)
	LimType	{'n', 'x', 'l', 'u'} (min position, max position, min speed, max speed)

Returns:

limiting position/speed

Definition at line 282 of file ptu46_driver.cc.

float PTU46::PTU46::GetMax

(

char

type

)

[inline]

Parameters:

type

'p' or 't'

Returns:

Maximum position in radians

Definition at line 102 of file ptu46_driver.h.

float PTU46::PTU46::GetMaxSpeed

(

char

type

)

[inline]

Parameters:

type

'p' or 't'

Returns:

Maximum speed in radians/second

Definition at line 117 of file ptu46_driver.h.

float PTU46::PTU46::GetMin

(

char

type

)

[inline]

Parameters:

type

'p' or 't'

Returns:

Minimum position in radians

Definition at line 95 of file ptu46_driver.h.

float PTU46::PTU46::GetMinSpeed

(

char

type

)

[inline]

Parameters:

type

'p' or 't'

Returns:

Minimum speed in radians/second

Definition at line 110 of file ptu46_driver.h.

char PTU46::PTU46::GetMode

(

)

Get the control mode, position or velocity

Returns:

'v' for velocity, 'i' for position

Definition at line 436 of file ptu46_driver.cc.

float PTU46::PTU46::GetPosition

(

char

type

)

Parameters:

type

'p' or 't'

Returns:

position in radians

Definition at line 305 of file ptu46_driver.cc.

float PTU46::PTU46::GetRes

(

char

type

)

[private]

Get radian/count resolution

Parameters:

type

'p' or 't'

Returns:

pan resolution if type=='p', tilt resolution if type=='t'

Definition at line 259 of file ptu46_driver.cc.

float PTU46::PTU46::GetResolution

(

char

type

)

[inline]

Parameters:

type

'p' or 't'

Returns:

resolution in radians/count

Definition at line 87 of file ptu46_driver.h.

float PTU46::PTU46::GetSpeed

(

char

type

)

Parameters:

type

'p' or 't'

Returns:

speed in radians/second

Definition at line 362 of file ptu46_driver.cc.

bool PTU46::PTU46::isOpen

(

)

[inline]

Returns:

true if the ptu is open/ready

Definition at line 67 of file ptu46_driver.h.

bool PTU46::PTU46::SetMode

(

char

type

)

Set the control mode, position or velocity

Parameters:

type

'v' for velocity, 'i' for position

Returns:

True if successfully sent command

Definition at line 416 of file ptu46_driver.cc.

bool PTU46::PTU46::SetPosition	(	char	type,
		float	pos,
		bool	Block = false
	)

Moves the PTU to the desired position. If Block is true, the call blocks until the desired position is reached

Parameters:

	type	'p' or 't'
	pos	desired position in radians
	Block	block until ready

Returns:

True if successfully sent command

Definition at line 329 of file ptu46_driver.cc.

bool PTU46::PTU46::SetSpeed	(	char	type,
		float	speed
	)

Sets the desired speed in radians/second

Parameters:

	type	'p' or 't'
	speed	desired speed in radians/second

Returns:

True if successfully sent command

Definition at line 387 of file ptu46_driver.cc.

int PTU46::PTU46::Write	(	const char *	data,
		int	length = 0
	)			[protected]

Write Data to PTU

Parameters:

	data
	length	number of chars (default=0)

Returns:

0 if successful, -1 if failure

Definition at line 239 of file ptu46_driver.cc.

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Member Data Documentation

char PTU46::PTU46::buffer[PTU46_BUFFER_LEN+1] [protected]

read buffer

Definition at line 190 of file ptu46_driver.h.

int PTU46::PTU46::fd [protected]

serial port descriptor

Definition at line 187 of file ptu46_driver.h.

struct termios PTU46::PTU46::oldtio [protected]

old terminal settings

Definition at line 188 of file ptu46_driver.h.

int PTU46::PTU46::PMax [private]

Max Pan in Counts.

Definition at line 175 of file ptu46_driver.h.

int PTU46::PTU46::PMin [private]

Min Pan in Counts.

Definition at line 174 of file ptu46_driver.h.

float PTU46::PTU46::pr [protected]

pan resolution (rads/count)

Definition at line 185 of file ptu46_driver.h.

int PTU46::PTU46::PSMax [private]

Max Pan Speed in Counts/second.

Definition at line 181 of file ptu46_driver.h.

int PTU46::PTU46::PSMin [private]

Min Pan Speed in Counts/second.

Definition at line 180 of file ptu46_driver.h.

int PTU46::PTU46::TMax [private]

Max Tilt in Counts.

Definition at line 173 of file ptu46_driver.h.

int PTU46::PTU46::TMin [private]

Min Tilt in Counts.

Definition at line 172 of file ptu46_driver.h.

float PTU46::PTU46::tr [protected]

tilt resolution (rads/count)

Definition at line 184 of file ptu46_driver.h.

int PTU46::PTU46::TSMax [private]

Max Tilt Speed in Counts/second.

Definition at line 179 of file ptu46_driver.h.

int PTU46::PTU46::TSMin [private]

Min Tilt Speed in Counts/second.

Definition at line 178 of file ptu46_driver.h.

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The documentation for this class was generated from the following files:

• /home/laradmin/lar/bases/wu_ptu/ptu46/include/ptu46/ptu46_driver.h
• /home/laradmin/lar/bases/wu_ptu/ptu46/src/ptu46_driver.cc