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CServoeNeck.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #ifndef CServoeNeck_H
11 #define CServoeNeck_H
12 
13 #include <mrpt/utils/utils_defs.h>
16 
17 namespace mrpt
18 {
19  namespace hwdrivers
20  {
21 
22  /** A USB-interface for a custom "robotic neck" designed at MAPIR lab.
23  * \ingroup mrpt_hwdrivers_grp */
25  {
26  public:
27  CServoeNeck();
28  ~CServoeNeck();
29 
30  /** Gets the firmware version of the eNeck board.
31  * \param out_firmwareVersion: [OUTPUT] A string containing the firmware version.
32  * \return Whether or not the procedure succeded.
33  */
34  bool queryFirmwareVersion( std::string &out_firmwareVersion );
35 
36  /** Gets the current angle of the servo (in radians within (-pi,pi))
37  * \param Angle: [OUT] The current angle.
38  * \param Servo: [IN] The id of the servo (in our ATMEGA16, from 0 to 2).
39  * \return Whether or not the procedure succeded.
40  */
41  bool getCurrentAngle( double &angle, const uint8_t servo = 0 );
42 
43  /** 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)
44  * \param Angle: the desired angle to turn.
45  * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2).
46  * \param Fast: indicates if the servo must reach the angle at maximum speed
47  * \return Whether or not the procedure succeded.
48  */
49  bool setAngle( double angle, const uint8_t servo = 0, bool fast = false );
50 
51  /** 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)
52  * \param Angle: the desired angle to turn.
53  * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2).
54  * \param Speed: indicates the speed of the servo
55  * \return Whether or not the procedure succeded.
56  */
57  bool setAngleAndSpeed( double angle, const uint8_t servo, const uint8_t speed );
58 
59  /** Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles.
60  * \param Angle: the new desired angle to turn.
61  * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2).
62  * \param Fast: indicates if the servo must reach the angle at maximum speed
63  * \return Whether or not the procedure succeded.
64  */
65  bool setAngleWithFilter( double angle, const uint8_t servo = 0, bool fast = false );
66 
67  /** Disables the servo so the neck will be loose.
68  * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2).
69  * \return Whether or not the procedure succeded.
70  */
71  bool disableServo( const uint8_t servo = 0 );
72 
73  /** Enables the servo so the neck will be tight.
74  * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2).
75  * \return Whether or not the procedure succeded.
76  */
77  bool enableServo( const uint8_t servo = 0 );
78 
79  /** Centers the servo at zero position
80  */
81  bool center( const uint8_t servo = 0 );
82 
83  /** Gets the truncate factor of the turn
84  */
85  double getTruncateFactor(){ return m_TruncateFactor; }
86 
87  /** Gets the truncate factor of the turn
88  */
89  void setTruncateFactor( const double factor ){ ASSERT_( factor > 0 && factor < 1 ); m_TruncateFactor = factor; }
90 
91  /** Gets the truncate factor of the turn
92  */
93  void setNumberOfPreviousAngles( const unsigned int number ){ m_NumPrevAngles = number; }
94 
95  /** Gets the truncate factor of the turn
96  */
97  unsigned int getNumberOfPreviousAngles(){ return m_NumPrevAngles; }
98 
99  /**Load the Offset values for each servo
100  */
101  void setOffsets(float offset0, float offset1, float offset2);
102 
103  protected:
104  std::string m_usbSerialNumber; //!< A copy of the device serial number (to open the USB FTDI chip).
105  double m_MaxValue; //!< The value set in the ICR register within the ATMEGA16 controller.
106  double m_TruncateFactor; //!< The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)".
107  std::deque<double> m_PrevAngles; //!< A vector containing the last N angles which where passed to the servo (for averaging)
108  unsigned int m_NumPrevAngles; //!< Number of previous angles to store for averaging
109  std::vector<float> m_offsets; //!< The offset used for each servo
110 
111  bool setRegisterValue( const uint16_t value, const uint8_t servo = 0, bool fast = false );
112  bool setRegisterValueAndSpeed( const uint16_t value, const uint8_t servo, const uint16_t speed );
113  bool getRegisterValue( uint16_t &value, const uint8_t servo = 0 );
114 
115  private:
116  /** Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only).
117  * \param The angle to convert.
118  * \return The value of the register to send.
119  */
120  unsigned int angle2RegValue( const double angle ); // Angle in rad
121 
122  /** Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only).
123  * \param The value to convert.
124  * \return The corresponding angle.
125  */
126  double regValue2angle( const uint16_t value );
127 
128  /** Tries to connect to the USB device (if disconnected).
129  * \return True on connection OK, false on error.
130  */
131  bool checkConnectionAndConnect();
132 
133  }; // End of class
134 
135  } // End of namespace
136 
137 } // End of namespace
138 
139 #endif
unsigned __int16 uint16_t
Definition: rptypes.h:46
unsigned int m_NumPrevAngles
Number of previous angles to store for averaging.
Definition: CServoeNeck.h:108
void setNumberOfPreviousAngles(const unsigned int number)
Gets the truncate factor of the turn.
Definition: CServoeNeck.h:93
A USB-interface for a custom "robotic neck" designed at MAPIR lab.
Definition: CServoeNeck.h:24
std::vector< float > m_offsets
The offset used for each servo.
Definition: CServoeNeck.h:109
unsigned char uint8_t
Definition: rptypes.h:43
GLsizei const GLchar ** string
Definition: glext.h:3919
unsigned int getNumberOfPreviousAngles()
Gets the truncate factor of the turn.
Definition: CServoeNeck.h:97
double getTruncateFactor()
Gets the truncate factor of the turn.
Definition: CServoeNeck.h:85
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void setTruncateFactor(const double factor)
Gets the truncate factor of the turn.
Definition: CServoeNeck.h:89
std::string m_usbSerialNumber
A copy of the device serial number (to open the USB FTDI chip).
Definition: CServoeNeck.h:104
#define ASSERT_(f)
double m_TruncateFactor
The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)". ...
Definition: CServoeNeck.h:106
GLsizei const GLfloat * value
Definition: glext.h:3929
double m_MaxValue
The value set in the ICR register within the ATMEGA16 controller.
Definition: CServoeNeck.h:105
std::deque< double > m_PrevAngles
A vector containing the last N angles which where passed to the servo (for averaging) ...
Definition: CServoeNeck.h:107
A definition of a CStream actually representing a USB connection to a FTDI chip.



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