00001 /*!@file sc8000.H Interface to a serial-servo-controller 00002 derived from ssc 00003 */ 00004 00005 // //////////////////////////////////////////////////////////////////// // 00006 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the // 00007 // University of Southern California (USC) and the iLab at USC. // 00008 // See http://iLab.usc.edu for information about this project. // 00009 // //////////////////////////////////////////////////////////////////// // 00010 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00011 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00012 // in Visual Environments, and Applications'' by Christof Koch and // 00013 // Laurent Itti, California Institute of Technology, 2001 (patent // 00014 // pending; application number 09/912,225 filed July 23, 2001; see // 00015 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00016 // //////////////////////////////////////////////////////////////////// // 00017 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00018 // // 00019 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00020 // redistribute it and/or modify it under the terms of the GNU General // 00021 // Public License as published by the Free Software Foundation; either // 00022 // version 2 of the License, or (at your option) any later version. // 00023 // // 00024 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00025 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00026 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00027 // PURPOSE. See the GNU General Public License for more details. // 00028 // // 00029 // You should have received a copy of the GNU General Public License // 00030 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00031 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00032 // Boston, MA 02111-1307 USA. // 00033 // //////////////////////////////////////////////////////////////////// // 00034 // 00035 // Primary maintainer for this file: Lior Elazary <elazary@usc.edu> 00036 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Devices/sc8000.H $ 00037 // $Id: sc8000.H 6990 2006-08-11 18:13:51Z rjpeters $ 00038 // 00039 00040 #ifndef SC8000_H_DEFINED 00041 #define SC8000_H_DEFINED 00042 00043 #include "Component/ModelComponent.H" 00044 #include "Component/ModelParam.H" 00045 00046 class Serial; 00047 00048 #define SSCNUMSERVOS 8 00049 00050 //! Interface to a serial-servo-controller 00051 /*! The sc8000.C and sc8000.H files has the sc-8000 controller code that 00052 help control the servos via the controller. The class is SC8000 00053 class. Its functions include moving a servo to a specified position, 00054 using a serial port. There are two ways to move the servos and thet 00055 their current positions: either using calibrated values in 00056 [-1.0..1.0], or using raw positions in [0..65535]. Calibrated 00057 positions are converted to raw using two linear ramps (one for each 00058 side of the neutral position) that can be set using the calibrate() 00059 function. EXAMPLE: if you do a calibrate(servo, 100, 20, 150), then, 00060 subsequently, move(servo, 0.0F) will be equivalent to moveRaw(servo, 00061 100), move(servo, -1.0F) will be equivalent to moveRaw(servo, 20) 00062 and move(servo, 1.0F) will be equivalent to moveRaw(servo, 150). */ 00063 class SC8000 : public ModelComponent 00064 { 00065 public: 00066 //! Default constructor; see ModelComponent.H 00067 SC8000(OptionManager& mgr, 00068 const std::string& descrName = "SC8000 Servo Driver", 00069 const std::string& tagName = "SC8000driver", 00070 const char *defdev = "/dev/ttyUSB0"); 00071 00072 //! Destructor 00073 ~SC8000(); 00074 00075 //! Moves servo # to given position in [-1.0 .. 1.0] 00076 /*! Returns true on success, false if some serial error occurred. */ 00077 bool move(const int servo, const float position); 00078 00079 //! Gets the current position of given servo 00080 float getPosition(const int servo) const; 00081 00082 //! Calibrate a servo 00083 /*! Calibration will be made so that move(servo, 0.0F) will send the 00084 value 'neutralval' to the servo, move(servo, -1.0F) will send 00085 minval and move(servo, 1.0F) will send maxval. */ 00086 void calibrate(const int servo, const short neutralval, const short minval, 00087 const short maxval); 00088 00089 //! Moves servo # to given RAW (uncalibrated) position in [0..65535] 00090 /*! Returns true on success, false if some serial error occurred. */ 00091 bool moveRaw(const int servo, const short rawpos); 00092 00093 //! Gets the current RAW (uncalibrated) position [0..65535] of given servo 00094 short getPositionRaw(const int servo) const; 00095 00096 protected: 00097 nub::soft_ref<Serial> itsPort; //!< Serial port to use 00098 rutz::shared_ptr<NModelParam<float> > *zero; //!< zero calibration values 00099 rutz::shared_ptr<NModelParam<float> > *posmult; //!< positive multiplier calib 00100 rutz::shared_ptr<NModelParam<float> > *negmult; //!< negative multiplier calib 00101 short *pos; //!< raw servo positions [0..65535] 00102 00103 //! Convert from raw (0..65535) to calibrated (-1.0..1.0) position 00104 float rawToCalib(const int servo, const short rawpos) const; 00105 00106 //! Convert from calibrated (-1.0..1.0) to raw (0..65535) position 00107 short calibToRaw(const int servo, const float position) const; 00108 }; 00109 00110 #endif 00111 00112 // ###################################################################### 00113 /* So things look consistent in everyone's emacs... */ 00114 /* Local Variables: */ 00115 /* indent-tabs-mode: nil */ 00116 /* End: */
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