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mrpt::hwdrivers::CTuMicos Class Reference

Detailed Description

This class implements initialization and comunication methods to control a Tilt Unit model DT-80, working in radians .

Definition at line 25 of file CTuMicos.h.

#include <mrpt/hwdrivers/CTuMicos.h>

Inheritance diagram for mrpt::hwdrivers::CTuMicos:
Inheritance graph

Public Member Functions

 CTuMicos ()
 Default constructor. More...
 
virtual ~CTuMicos ()
 Destructor. More...
 
virtual bool rangeMeasure ()
 Search limit forward. More...
 
virtual bool moveToAbsPos (char axis, double nRad)
 Specification of positions in absolute terms. More...
 
virtual bool absPosQ (char axis, double &nRad)
 Query position in absolute terms. More...
 
virtual bool moveToOffPos (char axis, double nRad)
 Specify desired axis position as an offset from the current position. More...
 
virtual bool offPosQ (char axis, double &nRad)
 Query position in relative terms. More...
 
virtual bool maxPosQ (char axis, double &nRad)
 Query max movement limit of a axis in absolute terms. More...
 
virtual bool minPosQ (char axis, double &nRad)
 Query min movement limit of a axis in absolute terms. More...
 
virtual bool enableLimitsQ (bool &enable)
 Query if exist movement limits. More...
 
virtual bool enableLimits (bool set)
 Enable/Disable movement limits. More...
 
virtual bool inmediateExecution (bool set)
 With I mode (default) instructs pan-tilt unit to immediately execute positional commands. More...
 
virtual bool aWait (void)
 Wait the finish of the last position command to continue accept commands. More...
 
virtual bool haltAll ()
 Inmediately stop all. More...
 
virtual bool halt (char axis)
 Inmediately stop. More...
 
virtual bool speed (char axis, double radSec)
 Specification of turn speed. More...
 
virtual bool speedQ (char axis, double &radSec)
 Query turn speed. More...
 
virtual bool aceleration (char axis, double radSec2)
 Specification (de/a)celeration in turn. More...
 
virtual bool acelerationQ (char axis, double &radSec2)
 Query (de/a)celeration in turn. More...
 
virtual bool baseSpeed (char axis, double radSec)
 Specification of velocity to which start and finish the (de/a)celeration. More...
 
virtual bool baseSpeedQ (char axis, double &radSec)
 Query velocity to which start and finish the (de/a)celeration. More...
 
virtual bool upperSpeed (char axis, double radSec)
 Specification of velocity upper limit. More...
 
virtual bool upperSpeedQ (char axis, double &radSec)
 Query velocity upper limit. More...
 
virtual bool lowerSpeed (char axis, double radSec)
 Specification of velocity lower limit. More...
 
virtual bool lowerSpeedQ (char axis, double &radSec)
 Query velocity lower limit. More...
 
virtual bool reset (void)
 Reset PTU to initial state. More...
 
virtual bool save (void)
 Save or restart default values. More...
 
virtual bool restoreDefaults (void)
 Restore default values. More...
 
virtual bool restoreFactoryDefaults (void)
 Restore factory default values. More...
 
virtual bool version (char *nVersion)
 Version and CopyRights. More...
 
virtual void nversion (double &nVersion)
 Number of version. More...
 
virtual bool powerModeQ (bool transit, char &mode)
 Query power mode. More...
 
virtual bool powerMode (bool transit, char mode)
 Specification of power mode. More...
 
bool clear ()
 Clear controller internal stack. More...
 
virtual bool setLimits (char axis, double &l, double &u)
 Set limits of movement. More...
 
virtual bool changeMotionDir ()
 
virtual int checkErrors ()
 Check errors, returns 0 if there are not errors or error code otherwise. More...
 
virtual void clearErrors ()
 Clear errors. More...
 
virtual bool init (const std::string &port)
 PTU and serial port initialization. More...
 
virtual void close ()
 Close Connection with serial port. More...
 
virtual double radError (char axis, double nRadMoved)
 To obtains the mistake for use discrete values when the movement is expressed in radians. More...
 
virtual long radToPos (char axis, double nRad)
 To obtain the discrete value for a number of radians. More...
 
virtual double posToRad (char axis, long nPos)
 To obtain the number of radians for a discrete value. More...
 
virtual bool scan (char axis, int wait, float initial, float final, double radPre)
 Performs a scan in the axis indicated and whit the precision desired. More...
 
virtual bool verboseQ (bool &modo)
 Query verbose mode. More...
 
virtual bool verbose (bool set)
 Set verbose. More...
 
virtual bool echoModeQ (bool &mode)
 Query echo mode. More...
 
virtual bool echoMode (bool mode)
 Enable/Disable echo response with command. More...
 
virtual bool resolution (void)
 Query the pan and tilt resolution per position moved and initialize local atributes. More...
 
virtual double status (double &rad)
 Check if ptu is moving. More...
 

Public Attributes

int axis_index
 
double tiltResolution
 
double panResolution
 

Protected Attributes

CSerialPort serPort
 

Private Member Functions

virtual bool transmit (const char *command)
 To transmition commands to the PTU. More...
 
virtual bool receive (const char *command, char *response)
 To receive the responseof the PTU. More...
 
virtual bool radQuerry (char axis, char command, double &nRad)
 Used to obtains a number of radians. More...
 
virtual bool radAsign (char axis, char command, double nRad)
 Method used for asign a number of radians with a command. More...
 

Static Private Member Functions

static double convertToDouble (char *sDouble)
 Convert string to double. More...
 
static long convertToLong (char *sLong)
 Convert string to long. More...
 

Constructor & Destructor Documentation

◆ CTuMicos()

mrpt::hwdrivers::CTuMicos::CTuMicos ( )
inline

Default constructor.

Definition at line 32 of file CTuMicos.h.

◆ ~CTuMicos()

virtual mrpt::hwdrivers::CTuMicos::~CTuMicos ( )
inlinevirtual

Destructor.

Definition at line 36 of file CTuMicos.h.

Member Function Documentation

◆ absPosQ()

bool CTuMicos::absPosQ ( char  axis,
double &  nRad 
)
virtual

Query position in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 66 of file CTuMicos.cpp.

◆ aceleration()

bool CTuMicos::aceleration ( char  axis,
double  radSec2 
)
virtual

Specification (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 141 of file CTuMicos.cpp.

◆ acelerationQ()

bool CTuMicos::acelerationQ ( char  axis,
double &  radSec2 
)
virtual

Query (de/a)celeration in turn.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 153 of file CTuMicos.cpp.

◆ aWait()

bool CTuMicos::aWait ( void  )
virtual

Wait the finish of the last position command to continue accept commands.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 272 of file CTuMicos.cpp.

◆ baseSpeed()

bool CTuMicos::baseSpeed ( char  axis,
double  radSec 
)
virtual

Specification of velocity to which start and finish the (de/a)celeration.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 165 of file CTuMicos.cpp.

◆ baseSpeedQ()

bool CTuMicos::baseSpeedQ ( char  axis,
double &  radSec 
)
virtual

Query velocity to which start and finish the (de/a)celeration.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 176 of file CTuMicos.cpp.

◆ changeMotionDir()

bool CTuMicos::changeMotionDir ( )
virtual

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 447 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

◆ checkErrors()

int CTuMicos::checkErrors ( )
virtual

Check errors, returns 0 if there are not errors or error code otherwise.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 846 of file CTuMicos.cpp.

◆ clear()

bool CTuMicos::clear ( )

Clear controller internal stack.

Definition at line 417 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

◆ clearErrors()

virtual void mrpt::hwdrivers::CTuMicos::clearErrors ( )
inlinevirtual

Clear errors.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 219 of file CTuMicos.h.

◆ close()

void CTuMicos::close ( )
virtual

Close Connection with serial port.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 541 of file CTuMicos.cpp.

◆ convertToDouble()

double CTuMicos::convertToDouble ( char *  sDouble)
staticprivate

Convert string to double.

Definition at line 833 of file CTuMicos.cpp.

◆ convertToLong()

long CTuMicos::convertToLong ( char *  sLong)
staticprivate

Convert string to long.

Definition at line 821 of file CTuMicos.cpp.

◆ echoMode()

bool 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.

Definition at line 664 of file CTuMicos.cpp.

◆ echoModeQ()

bool CTuMicos::echoModeQ ( bool &  mode)
virtual

Query echo mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 651 of file CTuMicos.cpp.

◆ enableLimits()

bool CTuMicos::enableLimits ( bool  set)
virtual

Enable/Disable movement limits.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 247 of file CTuMicos.cpp.

◆ enableLimitsQ()

bool CTuMicos::enableLimitsQ ( bool &  enable)
virtual

Query if exist movement limits.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 235 of file CTuMicos.cpp.

◆ halt()

bool CTuMicos::halt ( char  axis)
virtual

Inmediately stop.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 293 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

◆ haltAll()

bool CTuMicos::haltAll ( )
virtual

Inmediately stop all.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 282 of file CTuMicos.cpp.

◆ init()

bool CTuMicos::init ( const std::string port)
virtual

PTU and serial port initialization.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 475 of file CTuMicos.cpp.

References mrpt::utils::clear(), MRPT_LOG_ERROR_STREAM, and version.

◆ inmediateExecution()

bool 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.

Definition at line 259 of file CTuMicos.cpp.

◆ lowerSpeed()

bool CTuMicos::lowerSpeed ( char  axis,
double  radSec 
)
virtual

Specification of velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 211 of file CTuMicos.cpp.

◆ lowerSpeedQ()

bool CTuMicos::lowerSpeedQ ( char  axis,
double &  radSec 
)
virtual

Query velocity lower limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 223 of file CTuMicos.cpp.

References DEG2RAD.

◆ maxPosQ()

bool CTuMicos::maxPosQ ( char  axis,
double &  nRad 
)
virtual

Query max movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 101 of file CTuMicos.cpp.

◆ minPosQ()

bool CTuMicos::minPosQ ( char  axis,
double &  nRad 
)
virtual

Query min movement limit of a axis in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 112 of file CTuMicos.cpp.

◆ moveToAbsPos()

bool CTuMicos::moveToAbsPos ( char  axis,
double  nRad 
)
virtual

Specification of positions in absolute terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 51 of file CTuMicos.cpp.

References RAD2DEG, and mrpt::system::os::sprintf().

◆ moveToOffPos()

bool 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.

Definition at line 76 of file CTuMicos.cpp.

References RAD2DEG, and mrpt::system::os::sprintf().

◆ nversion()

void CTuMicos::nversion ( double &  nVersion)
virtual

Number of version.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 380 of file CTuMicos.cpp.

◆ offPosQ()

bool CTuMicos::offPosQ ( char  axis,
double &  nRad 
)
virtual

Query position in relative terms.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 91 of file CTuMicos.cpp.

◆ posToRad()

double CTuMicos::posToRad ( char  axis,
long  nPos 
)
virtual

To obtain the number of radians for a discrete value.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 808 of file CTuMicos.cpp.

◆ powerMode()

bool CTuMicos::powerMode ( bool  transit,
char  mode 
)
virtual

Specification of power mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 404 of file CTuMicos.cpp.

◆ powerModeQ()

bool CTuMicos::powerModeQ ( bool  transit,
char &  mode 
)
virtual

Query power mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 391 of file CTuMicos.cpp.

◆ radAsign()

bool CTuMicos::radAsign ( char  axis,
char  command,
double  nRad 
)
privatevirtual

Method used for asign a number of radians with a command.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 766 of file CTuMicos.cpp.

References RAD2DEG, and mrpt::system::os::sprintf().

◆ radError()

double 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.

Definition at line 557 of file CTuMicos.cpp.

◆ radQuerry()

bool CTuMicos::radQuerry ( char  axis,
char  command,
double &  nRad 
)
privatevirtual

Used to obtains a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 700 of file CTuMicos.cpp.

References DEG2RAD, mrpt::system::os::sprintf(), and mrpt::system::strtok().

◆ radToPos()

long CTuMicos::radToPos ( char  axis,
double  nRad 
)
virtual

To obtain the discrete value for a number of radians.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 795 of file CTuMicos.cpp.

◆ rangeMeasure()

bool CTuMicos::rangeMeasure ( )
virtual

Search limit forward.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 30 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

◆ receive()

bool CTuMicos::receive ( const char *  command,
char *  response 
)
privatevirtual

To receive the responseof the PTU.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 593 of file CTuMicos.cpp.

References mrpt::system::os::strcpy().

◆ reset()

bool CTuMicos::reset ( void  )
virtual

Reset PTU to initial state.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 308 of file CTuMicos.cpp.

References mrpt::system::sleep(), and mrpt::system::os::sprintf().

◆ resolution()

bool CTuMicos::resolution ( void  )
virtual

Query the pan and tilt resolution per position moved and initialize local atributes.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 677 of file CTuMicos.cpp.

◆ restoreDefaults()

bool CTuMicos::restoreDefaults ( void  )
virtual

Restore default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 341 of file CTuMicos.cpp.

◆ restoreFactoryDefaults()

bool CTuMicos::restoreFactoryDefaults ( void  )
virtual

Restore factory default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 354 of file CTuMicos.cpp.

◆ save()

bool CTuMicos::save ( void  )
virtual

Save or restart default values.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 328 of file CTuMicos.cpp.

◆ scan()

bool 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.

Definition at line 783 of file CTuMicos.cpp.

◆ setLimits()

bool CTuMicos::setLimits ( char  axis,
double &  l,
double &  u 
)
virtual

Set limits of movement.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 432 of file CTuMicos.cpp.

References mrpt::system::os::sprintf().

◆ speed()

bool CTuMicos::speed ( char  axis,
double  radSec 
)
virtual

Specification of turn speed.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 122 of file CTuMicos.cpp.

◆ speedQ()

bool CTuMicos::speedQ ( char  axis,
double &  radSec 
)
virtual

Query turn speed.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 131 of file CTuMicos.cpp.

◆ status()

double CTuMicos::status ( double &  rad)
virtual

Check if ptu is moving.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 689 of file CTuMicos.cpp.

◆ transmit()

bool CTuMicos::transmit ( const char *  command)
privatevirtual

To transmition commands to the PTU.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 570 of file CTuMicos.cpp.

References mrpt::system::os::strcat(), and mrpt::system::os::strcpy().

◆ upperSpeed()

bool CTuMicos::upperSpeed ( char  axis,
double  radSec 
)
virtual

Specification of velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 188 of file CTuMicos.cpp.

◆ upperSpeedQ()

bool CTuMicos::upperSpeedQ ( char  axis,
double &  radSec 
)
virtual

Query velocity upper limit.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 199 of file CTuMicos.cpp.

References DEG2RAD.

◆ verbose()

bool 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.

Definition at line 638 of file CTuMicos.cpp.

◆ verboseQ()

bool CTuMicos::verboseQ ( bool &  modo)
virtual

Query verbose mode.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 624 of file CTuMicos.cpp.

◆ version()

bool CTuMicos::version ( char *  nVersion)
virtual

Version and CopyRights.

Implements mrpt::hwdrivers::CPtuBase.

Definition at line 367 of file CTuMicos.cpp.

Member Data Documentation

◆ axis_index

int mrpt::hwdrivers::CTuMicos::axis_index

Definition at line 336 of file CTuMicos.h.

◆ panResolution

double mrpt::hwdrivers::CPtuBase::panResolution
inherited

Definition at line 30 of file CPtuBase.h.

◆ serPort

CSerialPort mrpt::hwdrivers::CPtuBase::serPort
protectedinherited

Definition at line 34 of file CPtuBase.h.

◆ tiltResolution

double mrpt::hwdrivers::CPtuBase::tiltResolution
inherited

Definition at line 30 of file CPtuBase.h.




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