ScorbotController.H

00001 #ifndef SCORBOTCONTROLLER_H
00002 #define SCORBOTCONTROLLER_H
00003 
00004 #include "Component/ModelComponent.H"
00005 #include "Component/ModelParam.H"
00006 #include "Robots/RobotBrain/RobotBrainComponent.H"
00007 #include "Ice/RobotBrainObjects.ice.H"
00008 #include "Ice/RobotSimEvents.ice.H"
00009 #include "Ice/IceImageUtils.H"
00010 #include <IceUtil/Thread.h>
00011 #include "Component/ModelOptionDef.H"
00012 
00013 #include "Devices/Serial.H"
00014 #include "Ice/Scorbot.ice.H"
00015 
00016 
00017 class ScorbotController : public RobotBrainComponent
00018 {
00019   public:
00020     ScorbotController(OptionManager& mgr,
00021         const std::string& descrName = "ScorbotController",
00022         const std::string& tagName = "ScorbotController");
00023 
00024     ~ScorbotController();
00025 
00026     void start1();
00027 
00028     void evolve();
00029 
00030     void updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
00031         const Ice::Current&);
00032 
00033     void registerTopics();
00034 
00035   private:
00036     OModelParam<std::string> itsSerialDev;
00037 
00038     nub::soft_ref<Serial> itsSerial; //our serial controller
00039 
00040     void setMotor(JOINT m, int pwm);
00041     void stopAllMotors();
00042     int getMicroSwitch();
00043     int getEncoder(JOINT m);
00044     void setSafety(bool val);
00045     int getPWM(JOINT m);
00046     void resetEncoders();
00047     void stopAllMotors();
00048     void setSafety(bool val);
00049     int getPWM(JOINT m);
00050 }
00051 
00052 #endif
00053