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: */
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