00001 /*!@file Robots/NavBot/NavBot.H 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.H $ 00035 // $Id: NavBot.H 10794 2009-02-08 06:21:09Z itti $ 00036 // 00037 00038 #ifndef NavBot_H_DEFINED 00039 #define NavBot_H_DEFINED 00040 00041 #include "Component/ModelComponent.H" 00042 #include "Component/ModelParam.H" 00043 #include "Devices/Serial.H" 00044 00045 #define MAX_PWM 100 00046 00047 class NavBot : public ModelComponent 00048 { 00049 public: 00050 //Constructor 00051 NavBot(OptionManager& mgr, 00052 const std::string& descrName = "NavBot", 00053 const std::string& tagName = "NavBot", 00054 const char *defdev = "/dev/ttyUSB1"); 00055 00056 ~NavBot(); 00057 00058 //########################################################### 00059 void start2(); 00060 00061 enum MOTOR {LEFT_WHEEL, RIGHT_WHEEL}; 00062 00063 bool setMotor(MOTOR m, int pwm); 00064 00065 bool stopAllMotors(); 00066 00067 float getBatteryVoltage(); 00068 00069 private: 00070 nub::soft_ref<Serial> itsSerial; //our serial controller 00071 00072 }; 00073 00074 #endif 00075 00076 // ###################################################################### 00077 /* So things look consistent in everyone's emacs... */ 00078 /* Local Variables: */ 00079 /* indent-tabs-mode: nil */ 00080 /* End: */
1.6.3