SSC Class Reference

Interface to a serial-servo-controller. More...

#include <Devices/ssc.H>

Inheritance diagram for SSC:

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Collaboration diagram for SSC:

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List of all members.

Public Member Functions
	SSC (OptionManager &mgr, const std::string &descrName="Mini-SSC Servo Driver", const std::string &tagName="MiniSSCdriver", const char *defdev="/dev/ttyS0")
	Default constructor; see ModelComponent.H.
	~SSC ()
	Destructor.
bool	move (const int servo, const float position)
	Moves servo # to given position in [-1.0 .. 1.0].
float	getPosition (const int servo) const
	Gets the current position of given servo.
void	calibrate (const int servo, const byte neutralval, const byte minval, const byte maxval)
	Calibrate a servo.
bool	moveRaw (const int servo, const byte rawpos)
	Moves servo # to given RAW (uncalibrated) position in [0..255].
bool	moveRawHack (const int servo, const byte rawpos, const int port=1)
	hack work around for moveRaw. Remove when serial stuff is fixed
byte	getPositionRaw (const int servo) const
	Gets the current RAW (uncalibrated) position [0..255] of given servo.
Protected Member Functions
float	rawToCalib (const int servo, const byte rawpos) const
	Convert from raw (0..255) to calibrated (-1.0..1.0) position.
byte	calibToRaw (const int servo, const float position) const
	Convert from calibrated (-1.0..1.0) to raw (0..255) position.
Protected Attributes
nub::soft_ref< Serial >	itsPort
	Serial port to use.
rutz::shared_ptr< NModelParam < float > > *	zero
	zero calibration values
rutz::shared_ptr< NModelParam < float > > *	posmult
	positive multiplier calib
rutz::shared_ptr< NModelParam < float > > *	negmult
	negative multiplier calib
byte *	pos
	raw servo positions [0..255]

Detailed Description

Interface to a serial-servo-controller.

The ssc.C and ssc.H files has the mini_SSC controller code that help control the servos via the controller. The class is SSC class. Its functions include moving a servo to a specified position, using a serial port. There are two ways to move the servos and thet their current positions: either using calibrated values in [-1.0..1.0], or using raw positions in [0..255]. Calibrated positions are converted to raw using two linear ramps (one for each side of the neutral position) that can be set using the calibrate() function. EXAMPLE: if you do a calibrate(servo, 100, 20, 150), then, subsequently, move(servo, 0.0F) will be equivalent to moveRaw(servo, 100), move(servo, -1.0F) will be equivalent to moveRaw(servo, 20) and move(servo, 1.0F) will be equivalent to moveRaw(servo, 150).

Definition at line 62 of file ssc.H.

Constructor & Destructor Documentation

SSC::SSC	(	OptionManager &	mgr,
		const std::string &	descrName = `"Mini-SSC Servo Driver"`,
		const std::string &	tagName = `"MiniSSCdriver"`,
		const char *	defdev = `"/dev/ttyS0"`
	)

Default constructor; see ModelComponent.H.

Definition at line 44 of file ssc.C.

References ModelComponent::addSubComponent(), itsPort, negmult, pos, posmult, and zero.

SSC::~SSC ( )

Destructor.

Definition at line 76 of file ssc.C.

Member Function Documentation

void SSC::calibrate	(	const int	servo,
		const byte	neutralval,
		const byte	minval,
		const byte	maxval
	)

Calibrate a servo.

Calibration will be made so that move(servo, 0.0F) will send the value 'neutralval' to the servo, move(servo, -1.0F) will send minval and move(servo, 1.0F) will send maxval.

Definition at line 92 of file ssc.C.

References negmult, posmult, and zero.