SC8000 Class Reference

Interface to a serial-servo-controller. More...

#include <Devices/sc8000.H>

Inheritance diagram for SC8000:

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Collaboration diagram for SC8000:

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List of all members.

Public Member Functions
	SC8000 (OptionManager &mgr, const std::string &descrName="SC8000 Servo Driver", const std::string &tagName="SC8000driver", const char *defdev="/dev/ttyUSB0")
	Default constructor; see ModelComponent.H.
	~SC8000 ()
	Destructor.
bool	move (const int servo, const float position)
	Moves servo # to given position in [-1.0 .. 1.0].
float	getPosition (const int servo) const
	Gets the current position of given servo.
void	calibrate (const int servo, const short neutralval, const short minval, const short maxval)
	Calibrate a servo.
bool	moveRaw (const int servo, const short rawpos)
	Moves servo # to given RAW (uncalibrated) position in [0..65535].
short	getPositionRaw (const int servo) const
	Gets the current RAW (uncalibrated) position [0..65535] of given servo.
Protected Member Functions
float	rawToCalib (const int servo, const short rawpos) const
	Convert from raw (0..65535) to calibrated (-1.0..1.0) position.
short	calibToRaw (const int servo, const float position) const
	Convert from calibrated (-1.0..1.0) to raw (0..65535) position.
Protected Attributes
nub::soft_ref< Serial >	itsPort
	Serial port to use.
rutz::shared_ptr< NModelParam < float > > *	zero
	zero calibration values
rutz::shared_ptr< NModelParam < float > > *	posmult
	positive multiplier calib
rutz::shared_ptr< NModelParam < float > > *	negmult
	negative multiplier calib
short *	pos
	raw servo positions [0..65535]

Detailed Description

Interface to a serial-servo-controller.

The sc8000.C and sc8000.H files has the sc-8000 controller code that help control the servos via the controller. The class is SC8000 class. Its functions include moving a servo to a specified position, using a serial port. There are two ways to move the servos and thet their current positions: either using calibrated values in [-1.0..1.0], or using raw positions in [0..65535]. Calibrated positions are converted to raw using two linear ramps (one for each side of the neutral position) that can be set using the calibrate() function. EXAMPLE: if you do a calibrate(servo, 100, 20, 150), then, subsequently, move(servo, 0.0F) will be equivalent to moveRaw(servo, 100), move(servo, -1.0F) will be equivalent to moveRaw(servo, 20) and move(servo, 1.0F) will be equivalent to moveRaw(servo, 150).

Definition at line 63 of file sc8000.H.

Constructor & Destructor Documentation

SC8000::SC8000	(	OptionManager &	mgr,
		const std::string &	descrName = `"SC8000 Servo Driver"`,
		const std::string &	tagName = `"SC8000driver"`,
		const char *	defdev = `"/dev/ttyUSB0"`
	)

Default constructor; see ModelComponent.H.

Definition at line 46 of file sc8000.C.

References ModelComponent::addSubComponent(), itsPort, negmult, pos, posmult, and zero.

SC8000::~SC8000 ( )

Destructor.

Definition at line 77 of file sc8000.C.

Member Function Documentation

void SC8000::calibrate	(	const int	servo,
		const short	neutralval,
		const short	minval,
		const short	maxval
	)

Calibrate a servo.

Calibration will be made so that move(servo, 0.0F) will send the value 'neutralval' to the servo, move(servo, -1.0F) will send minval and move(servo, 1.0F) will send maxval.

Definition at line 93 of file sc8000.C.

References negmult, posmult, and zero.