00001 /*!@file test-sc8000.C Test SC-8000 serial servo controller */ 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: Lior Elazary <elazary@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/AppDevices/test-sc8000.C $ 00035 // $Id: test-sc8000.C 7912 2007-02-14 21:12:44Z rjpeters $ 00036 // 00037 00038 #include "Component/ModelManager.H" 00039 #include "Devices/sc8000.H" 00040 #include "Util/log.H" 00041 00042 #include <stdio.h> 00043 00044 int main(int argc, const char **argv) 00045 { 00046 // Instantiate a ModelManager: 00047 ModelManager manager("Test Model for SSC Class"); 00048 00049 // Instantiate our various ModelComponents: 00050 nub::soft_ref<SC8000> sc8000(new SC8000(manager)); 00051 manager.addSubComponent(sc8000); 00052 00053 // Parse command-line: 00054 if (manager.parseCommandLine(argc, argv, 00055 "<servo> <position> <1 for calibrate movment>", 2, 3) == false) return(1); 00056 00057 // let's get all our ModelComponent instances started: 00058 manager.start(); 00059 00060 // Let's get some of the option values, to configure our window: 00061 int sernum = manager.getExtraArgAs<int>(0); 00062 00063 if (manager.numExtraArgs() > 2){ 00064 //calibrate movment 00065 const char* pos = manager.getExtraArg(1).c_str(); 00066 00067 float serpos; 00068 if (*pos == 'N') 00069 serpos = atof(pos+1)*-1; 00070 else 00071 serpos = atof(pos); 00072 00073 sc8000->calibrate(1, 13650, 10800, 16000); 00074 sc8000->calibrate(3, 14000, 12000, 16000); 00075 00076 sc8000->move(sernum, serpos); 00077 LINFO("Moved servo %d to position %f", sernum, serpos); 00078 for (int i=1; i<3; i++) 00079 LINFO("Servo %d is at position %f", i, sc8000->getPosition(i)); 00080 } else { 00081 // command the ssc 00082 int serpos = manager.getExtraArgAs<int>(1); 00083 sc8000->moveRaw(sernum, serpos); 00084 LINFO("Moved servo %d to raw position %d", sernum, serpos); 00085 } 00086 00087 00088 // stop all our ModelComponents 00089 manager.stop(); 00090 00091 // all done! 00092 return 0; 00093 } 00094 00095 // ###################################################################### 00096 /* So things look consistent in everyone's emacs... */ 00097 /* Local Variables: */ 00098 /* indent-tabs-mode: nil */ 00099 /* End: */
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