Interface to a serial-servo-controller. More...
#include <Devices/Pololu.H>
Public Member Functions | |
| Pololu (OptionManager &mgr, const std::string &descrName="Mini-Pololu Servo Driver", const std::string &tagName="MiniPololudriver", const char *defdev="/dev/ttyS0") | |
| Default constructor; see ModelComponent.H. | |
| ~Pololu () | |
| 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. | |
| bool | setSpeed (const int servo, const byte speed) |
| Set the speed at which the servo moves. | |
| bool | setNeutral (const int servo, const short int pos) |
| set the neutral position | |
| bool | setParam (const int servo, bool on_off, bool direction, char range) |
| set servo param | |
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] | |
Interface to a serial-servo-controller.
The Pololu.C and Pololu.H files has the mini_Pololu controller code that help control the servos via the controller. The class is Pololu 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 Pololu.H.
| Pololu::Pololu | ( | OptionManager & | mgr, | |
| const std::string & | descrName = "Mini-Pololu Servo Driver", |
|||
| const std::string & | tagName = "MiniPololudriver", |
|||
| const char * | defdev = "/dev/ttyS0" | |||
| ) |
Default constructor; see ModelComponent.H.
Definition at line 44 of file Pololu.C.
References ModelComponent::addSubComponent(), itsPort, negmult, pos, posmult, and zero.
| Pololu::~Pololu | ( | ) |
| byte Pololu::calibToRaw | ( | const int | servo, | |
| const float | position | |||
| ) | const [protected] |
| float Pololu::getPosition | ( | const int | servo | ) | const |
Gets the current position of given servo.
Definition at line 89 of file Pololu.C.
References pos, and rawToCalib().
| byte Pololu::getPositionRaw | ( | const int | servo | ) | const |
| bool Pololu::move | ( | const int | servo, | |
| const float | position | |||
| ) |
Moves servo # to given position in [-1.0 .. 1.0].
Returns true on success, false if some serial error occurred.
Definition at line 85 of file Pololu.C.
References calibToRaw(), and moveRaw().
| bool Pololu::moveRaw | ( | const int | servo, | |
| const byte | rawpos | |||
| ) |
| bool Pololu::moveRawHack | ( | const int | servo, | |
| const byte | rawpos, | |||
| const int | port = 1 | |||
| ) |
| float Pololu::rawToCalib | ( | const int | servo, | |
| const byte | rawpos | |||
| ) | const [protected] |
| bool Pololu::setNeutral | ( | const int | servo, | |
| const short int | pos | |||
| ) |
| bool Pololu::setParam | ( | const int | servo, | |
| bool | on_off, | |||
| bool | direction, | |||
| char | range | |||
| ) |
| bool Pololu::setSpeed | ( | const int | servo, | |
| const byte | speed | |||
| ) |
nub::soft_ref<Serial> Pololu::itsPort [protected] |
Serial port to use.
Definition at line 108 of file Pololu.H.
Referenced by moveRaw(), Pololu(), setNeutral(), setParam(), and setSpeed().
rutz::shared_ptr<NModelParam<float> >* Pololu::negmult [protected] |
negative multiplier calib
Definition at line 111 of file Pololu.H.
Referenced by calibrate(), calibToRaw(), Pololu(), rawToCalib(), and ~Pololu().
byte* Pololu::pos [protected] |
raw servo positions [0..255]
Definition at line 112 of file Pololu.H.
Referenced by getPosition(), getPositionRaw(), moveRaw(), Pololu(), and ~Pololu().
rutz::shared_ptr<NModelParam<float> >* Pololu::posmult [protected] |
positive multiplier calib
Definition at line 110 of file Pololu.H.
Referenced by calibrate(), calibToRaw(), Pololu(), rawToCalib(), and ~Pololu().
rutz::shared_ptr<NModelParam<float> >* Pololu::zero [protected] |
zero calibration values
Definition at line 109 of file Pololu.H.
Referenced by calibrate(), calibToRaw(), Pololu(), rawToCalib(), and ~Pololu().
1.6.3