BeeStemTiny.H

Go to the documentation of this file.
00001 /*!@file Devices/BeeStemTiny.H Simple interface to beestem */
00002 
00003 
00004 // //////////////////////////////////////////////////////////////////// //
00005 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00006 // University of Southern California (USC) and the iLab at USC.         //
00007 // See http://iLab.usc.edu for information about this project.          //
00008 // //////////////////////////////////////////////////////////////////// //
00009 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00010 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00011 // in Visual Environments, and Applications'' by Christof Koch and      //
00012 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00013 // pending; application number 09/912,225 filed July 23, 2001; see      //
00014 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00015 // //////////////////////////////////////////////////////////////////// //
00016 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00017 //                                                                      //
00018 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00019 // redistribute it and/or modify it under the terms of the GNU General  //
00020 // Public License as published by the Free Software Foundation; either  //
00021 // version 2 of the License, or (at your option) any later version.     //
00022 //                                                                      //
00023 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00024 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00025 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00026 // PURPOSE.  See the GNU General Public License for more details.       //
00027 //                                                                      //
00028 // You should have received a copy of the GNU General Public License    //
00029 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00030 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00031 // Boston, MA 02111-1307 USA.                                           //
00032 // //////////////////////////////////////////////////////////////////// //
00033 //
00034 // Primary maintainer for this file: Lior Elazary <elazary@usc.edu>
00035 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Devices/BeeStemTiny.H $
00036 // $Id: BeeStemTiny.H 8623 2007-07-25 17:57:51Z rjpeters $
00037 //
00038 
00039 #ifndef BeeStemTiny_H_DEFINED
00040 #define BeeStemTiny_H_DEFINED
00041 
00042 #include "Component/ModelComponent.H"
00043 #include "Component/ModelParam.H"
00044 #include "Util/Types.H"      // for byte
00045 #include <string>
00046 
00047 //Motor max values (Warning: can blow fuses if set too high)
00048 #define MOTOR_MAX 75
00049 
00050 class Serial;
00051 
00052 class BeeStemTiny : public ModelComponent
00053 {
00054 public:
00055   //! Default constructor; see ModelComponent.H
00056   BeeStemTiny(OptionManager& mgr,
00057       const std::string& descrName = "BeeStemTiny Driver",
00058       const std::string& tagName = "BeeStemTiny",
00059       const char *defdev = "/dev/ttyS1",
00060       const char *defdev2 = "/dev/ttyUSB0");
00061 
00062   //! Destructor
00063   ~BeeStemTiny();
00064 
00065   bool setThrusters(int &m1, int &m2, int &m3,
00066                  int &m4, int &m5);
00067 
00068   bool getSensors(int &heading, int &pitch, int &roll, int &ext_pressure, int &int_pressure);
00069 
00070   bool setHeartBeat();
00071 
00072   bool calibrateCrappyCompass();
00073 
00074 protected:
00075   nub::soft_ref<Serial> itsPort;   //!< Serial port to use
00076   pthread_mutex_t itsSerialLock;
00077   std::vector<int> crappyCompassRaw;
00078   nub::soft_ref<Serial> itsCompassPort;
00079 
00080   std::list<int> itsAvgDepth;
00081 
00082   int itsLastMotorCmd[5];
00083 
00084 };
00085 
00086 #endif
00087 
00088 // ######################################################################
00089 /* So things look consistent in everyone's emacs... */
00090 /* Local Variables: */
00091 /* indent-tabs-mode: nil */
00092 /* End: */
Generated on Sun May 8 08:40:37 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3