mrpt::hwdrivers::CServoeNeck Class Reference

#include <mrpt/hwdrivers/CServoeNeck.h>

Inheritance diagram for mrpt::hwdrivers::CServoeNeck:

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Collaboration diagram for mrpt::hwdrivers::CServoeNeck:

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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)
	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	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.
Protected Member Functions
bool	setRegisterValue (const uint16_t value, const uint8_t servo=0)
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).
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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Detailed Description

Definition at line 40 of file CServoeNeck.h.

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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.

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

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
	)

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).

Returns:

Whether or not the procedure succeded.

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

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Member Data Documentation

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

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

Definition at line 83 of file CServoeNeck.h.