00001 /*!@file Beobot/beobot-calibrate.C Calibrate the beobot's ESC and turn */ 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: Laurent Itti <itti@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Beobot/beobot-calibrate.C $ 00035 // $Id: beobot-calibrate.C 7912 2007-02-14 21:12:44Z rjpeters $ 00036 // 00037 00038 #include "Component/ModelManager.H" 00039 #include "Devices/BeoChip.H" 00040 #include "Devices/DeviceOpts.H" 00041 #include "Util/MathFunctions.H" 00042 00043 #include <cstdlib> 00044 00045 //! Calibrate the motor hardware of a Beobot 00046 /*! Calibrate the ESC by following the sequence prescribed in the EVX 00047 manual. */ 00048 int main(const int argc, const char* argv[]) 00049 { 00050 MYLOGVERB = LOG_INFO; 00051 00052 // instantiate a model manager: 00053 ModelManager manager("Beobot Calibrator"); 00054 00055 // Instantiate our various ModelComponents: 00056 nub::soft_ref<BeoChip> b(new BeoChip(manager)); 00057 manager.addSubComponent(b); 00058 00059 // Parse command-line: 00060 if (manager.parseCommandLine(argc, argv, "<serdev> <sernum>", 2, 2) == false) 00061 return(1); 00062 00063 // let's configure our serial device: 00064 b->setModelParamVal("BeoChipDeviceName", manager.getExtraArg(0)); 00065 int servo = manager.getExtraArgAs<int>(1); 00066 00067 // let's get all our ModelComponent instances started: 00068 manager.start(); 00069 00070 // ESC calibration: 00071 b->lcdClear(); // 01234567890123456789 00072 b->lcdPrintf(0, 0, " Beobot Servo Calib"); 00073 const byte neutral = byte(127); // raw value for neutral 00074 LINFO("Setting all servos to neutral (%d)", neutral); 00075 b->setServoRaw(servo, neutral); 00076 00077 LINFO("Press and hold ESC 'SET' button until LED turns solid red."); 00078 LINFO("Then release button and press [RETURN]"); 00079 getchar(); 00080 00081 LINFO("Setting servo %d to full forward (255)", servo); 00082 b->setServoRaw(servo, 255); 00083 LINFO("Press [RETURN] when LED turns solid green."); 00084 getchar(); 00085 00086 LINFO("Setting servo %d to full reverse (0)", servo); 00087 b->setServoRaw(servo, 0); 00088 LINFO("Press [RETURN] when LED blinks green."); 00089 getchar(); 00090 00091 LINFO("Setting servo %d to neutral (%d)", servo, neutral); 00092 b->setServoRaw(servo, neutral); 00093 LINFO("Press [RETURN] when LED gets solid red."); 00094 getchar(); 00095 00096 LINFO("Calibration complete!"); 00097 00098 while(1) { 00099 b->setServoRaw(servo, neutral); 00100 LINFO("Neutral... press [RETURN] to continue"); 00101 getchar(); 00102 00103 b->setServoRaw(servo, 192); 00104 LINFO("Weak forward... press [RETURN] to continue"); 00105 getchar(); 00106 00107 b->setServoRaw(servo, 255); 00108 LINFO("Full forward... press [RETURN] to continue"); 00109 getchar(); 00110 00111 b->setServoRaw(servo, neutral); 00112 LINFO("Neutral... press [RETURN] to continue"); 00113 getchar(); 00114 00115 b->setServoRaw(servo, 64); 00116 LINFO("Weak reverse... press [RETURN] to continue"); 00117 getchar(); 00118 00119 b->setServoRaw(servo, 0); 00120 LINFO("Full Reverse... press [RETURN] to continue"); 00121 getchar(); 00122 } 00123 00124 manager.stop(); 00125 return 0; 00126 } 00127 00128 // ###################################################################### 00129 /* So things look consistent in everyone's emacs... */ 00130 /* Local Variables: */ 00131 /* indent-tabs-mode: nil */ 00132 /* End: */