00001 /*!@file Beobot/BeobotConfig.H A set of car configuration parameters */ 00002 // //////////////////////////////////////////////////////////////////// // 00003 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00004 // University of Southern California (USC) and the iLab at USC. // 00005 // See http://iLab.usc.edu for information about this project. // 00006 // //////////////////////////////////////////////////////////////////// // 00007 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00008 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00009 // in Visual Environments, and Applications'' by Christof Koch and // 00010 // Laurent Itti, California Institute of Technology, 2001 (patent // 00011 // pending; application number 09/912,225 filed July 23, 2001; see // 00012 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00013 // //////////////////////////////////////////////////////////////////// // 00014 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00015 // // 00016 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00017 // redistribute it and/or modify it under the terms of the GNU General // 00018 // Public License as published by the Free Software Foundation; either // 00019 // version 2 of the License, or (at your option) any later version. // 00020 // // 00021 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00022 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00023 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00024 // PURPOSE. See the GNU General Public License for more details. // 00025 // // 00026 // You should have received a copy of the GNU General Public License // 00027 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00028 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00029 // Boston, MA 02111-1307 USA. // 00030 // //////////////////////////////////////////////////////////////////// // 00031 // Primary maintainer for this file: Christian Siagian <siagian@usc.edu> 00032 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Beobot/BeobotConfig.H $ 00033 // $Id: BeobotConfig.H 6780 2006-06-22 01:29:58Z beobot $ 00034 00035 #ifndef BEOBOT_BEOBOTCONFIG_H_DEFINED 00036 #define BEOBOT_BEOBOTCONFIG_H_DEFINED 00037 00038 #include "Util/readConfig.H" 00039 00040 /*! This class uses readConfig to extract config parameters for BeobotControl 00041 It is either from "beobot.conf" or another specified file */ 00042 00043 class BeobotConfig 00044 { 00045 public: 00046 //!default constructor, open config fileName and read 00047 BeobotConfig(std::string fileName); 00048 //!default constructor, open config "Beobot.conf" and read 00049 BeobotConfig(); 00050 //!default destructor 00051 ~BeobotConfig(); 00052 00053 //! speed servo neutral position 00054 unsigned int speedNeutralVal; 00055 //! speed servo minimum position 00056 unsigned int speedMinVal; 00057 //! speed servo maximum position 00058 unsigned int speedMaxVal; 00059 00060 //! steer servo neutral position 00061 unsigned int steerNeutralVal; 00062 //! steer servo minimum position 00063 unsigned int steerMinVal; 00064 //! steer servo maximum position 00065 unsigned int steerMaxVal; 00066 00067 //! gear servo neutral position 00068 unsigned int gearNeutralVal; 00069 //! gear servo minimum position 00070 unsigned int gearMinVal; 00071 //! gear servo maximum position 00072 unsigned int gearMaxVal; 00073 00074 //! PWM0 pulse neutral value 00075 unsigned int pwm0NeutralVal; 00076 //! PWM0 pulse minimum value 00077 unsigned int pwm0MinVal; 00078 //! PWM0 pulse maximum value 00079 unsigned int pwm0MaxVal; 00080 00081 //! PWM1 pulse neutral value 00082 unsigned int pwm1NeutralVal; 00083 //! PWM1 pulse minimum value 00084 unsigned int pwm1MinVal; 00085 //! PWM1 pulse maximum value 00086 unsigned int pwm1MaxVal; 00087 00088 //! speed servo number on BeoChip 00089 unsigned int speedServoNum; 00090 //! steering servo number on BeoChip 00091 unsigned int steerServoNum; 00092 //! gear servo number on BeoChip 00093 unsigned int gearServoNum; 00094 //! BeoChip serial port device; 00095 std::string beoChipPort; 00096 00097 private: 00098 readConfig readconfig; 00099 void init(); 00100 }; 00101 00102 #endif 00103 00104 // ###################################################################### 00105 /* So things look consistent in everyone's emacs... */ 00106 /* Local Variables: */ 00107 /* indent-tabs-mode: nil */ 00108 /* End: */
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