NavBot.H

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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: */
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