00001 /*!@file Beobot/BeobotEffectors.H controls the effectors of the Beobots (e.g., motors) */ 00002 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00005 // University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Laurent Itti <itti@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Beobot/BeobotEffectors.H $ 00035 // $Id: BeobotEffectors.H 6795 2006-06-29 20:45:32Z rjpeters $ 00036 // 00037 00038 #ifndef BEOBOTEFFECTORS_H_DEFINED 00039 #define BEOBOTEFFECTORS_H_DEFINED 00040 00041 #include "Beobot/BeobotAction.H" 00042 #include "Component/ModelComponent.H" 00043 #include "Devices/BeoChip.H" 00044 #include "Beobot/BeobotConfig.H" 00045 00046 //! This class contains all the effectors of a Beobot 00047 /*! i.e. servos (speed, turn and gear) and LCD display */ 00048 class BeobotEffectors : public ModelComponent 00049 { 00050 public: 00051 //! constructor 00052 BeobotEffectors(OptionManager& mgr, 00053 const std::string& descrName = "Beobot Effectors", 00054 const std::string& tagName = "BeobotEffectors"); 00055 00056 //! destructor 00057 ~BeobotEffectors(); 00058 00059 //! execute a given action 00060 void performAction(BeobotAction& action); 00061 00062 protected: 00063 //! our BeoChip controller for motor control and lcd 00064 nub::soft_ref<BeoChip> myBeoChip; 00065 00066 //! Beobot config file 00067 BeobotConfig bbc; 00068 00069 private: 00070 00071 void center(); 00072 void turn(const float angle); 00073 00074 void speed(const float sp); 00075 void stop(); 00076 00077 void changegear(const int gear); 00078 00079 void display(const char* message); 00080 void cleardisplay(); 00081 00082 }; 00083 00084 #endif 00085 00086 // ###################################################################### 00087 /* So things look consistent in everyone's emacs... */ 00088 /* Local Variables: */ 00089 /* indent-tabs-mode: nil */ 00090 /* End: */
1.6.3