NavBot.C

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00001 /*!@file Robots/NavBot/NavBot.C Interface to navbot robot */
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/Robots/NavBot/NavBot.C $
00035 // $Id: NavBot.C 10794 2009-02-08 06:21:09Z itti $
00036 //
00037 
00038 #include "Robots/NavBot/NavBot.H"
00039 #include "Component/OptionManager.H"
00040 
00041 // ######################################################################
00042 NavBot::NavBot(OptionManager& mgr, const std::string& descrName,
00043                    const std::string& tagName,
00044                    const char *defdev) :
00045   ModelComponent(mgr, descrName, tagName),
00046   itsSerial(new Serial(mgr))
00047 
00048 {
00049   itsSerial->configure (defdev, 115200, "8N1", false, false, 0);
00050   addSubComponent(itsSerial);
00051 }
00052 
00053 NavBot::~NavBot()
00054 {
00055 
00056 }
00057 
00058 void NavBot::start2()
00059 {
00060 }
00061 
00062 bool NavBot::setMotor(MOTOR m, int pwm)
00063 {
00064   unsigned char cmd[6];
00065   unsigned char buf[2];
00066 
00067         if (pwm > 63) pwm = 63;
00068         if (pwm < -63) pwm = -63;
00069 
00070         cmd[0] = 255; //Start header
00071         cmd[1] = 10; //move motor
00072 
00073   if (m == 0 )
00074     cmd[2] = 64 + pwm;
00075   else if (m == 1)
00076     cmd[2] = 192 + pwm;
00077 
00078   itsSerial->write(cmd, 3);
00079 
00080   //check that the command worked
00081   usleep(10000);
00082   buf[0] = 0;
00083   int i = itsSerial->read(buf, 1);
00084   if (i < 1 && buf[0] != 128)
00085     return false;
00086   return true;
00087 
00088 }
00089 
00090 bool NavBot::stopAllMotors()
00091 {
00092   unsigned char cmd[2];
00093   unsigned char buf[2];
00094   cmd[0] = 255; //stop all motors
00095   cmd[1] = 11; //stop all motors
00096   itsSerial->write(cmd, 2);
00097 
00098   //check that the command worked
00099   usleep(10000);
00100   buf[0] = 0;
00101   int i = itsSerial->read(buf, 1);
00102   if (i < 1 && buf[0] != 128)
00103     return false;
00104   return true;
00105 }
00106 
00107 float NavBot::getBatteryVoltage()
00108 {
00109   unsigned char cmd[2];
00110   unsigned char buf[2];
00111 
00112 
00113   cmd[0] = 255; //start header
00114   cmd[1] = 20; //get batttery voltage
00115 
00116   itsSerial->write(cmd, 2);
00117   usleep(10000);
00118   buf[0] = 0; buf[1] = 0;
00119   int i = itsSerial->read(buf, 2);
00120   if (i < 2 && buf[1] != 128)
00121     return -1;
00122 
00123   return (float)buf[0]/10;
00124 }
00125 
00126 // ######################################################################
00127 /* So things look consistent in everyone's emacs... */
00128 /* Local Variables: */
00129 /* indent-tabs-mode: nil */
00130 /* End: */
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