BeobotConfig.H

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00001 /*!@file Beobot/BeobotConfig.H A set of car configuration parameters    */
00002 // //////////////////////////////////////////////////////////////////// //
00003 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00004 // University of Southern California (USC) and the iLab at USC.         //
00005 // See http://iLab.usc.edu for information about this project.          //
00006 // //////////////////////////////////////////////////////////////////// //
00007 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00008 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00009 // in Visual Environments, and Applications'' by Christof Koch and      //
00010 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00011 // pending; application number 09/912,225 filed July 23, 2001; see      //
00012 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00013 // //////////////////////////////////////////////////////////////////// //
00014 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00015 //                                                                      //
00016 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00017 // redistribute it and/or modify it under the terms of the GNU General  //
00018 // Public License as published by the Free Software Foundation; either  //
00019 // version 2 of the License, or (at your option) any later version.     //
00020 //                                                                      //
00021 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00022 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00023 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00024 // PURPOSE.  See the GNU General Public License for more details.       //
00025 //                                                                      //
00026 // You should have received a copy of the GNU General Public License    //
00027 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00028 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00029 // Boston, MA 02111-1307 USA.                                           //
00030 // //////////////////////////////////////////////////////////////////// //
00031 // Primary maintainer for this file: Christian Siagian <siagian@usc.edu>
00032 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Beobot/BeobotConfig.H $
00033 // $Id: BeobotConfig.H 6780 2006-06-22 01:29:58Z beobot $
00034 
00035 #ifndef BEOBOT_BEOBOTCONFIG_H_DEFINED
00036 #define BEOBOT_BEOBOTCONFIG_H_DEFINED
00037 
00038 #include "Util/readConfig.H"
00039 
00040 /*! This class uses readConfig to extract config parameters for BeobotControl
00041     It is either from "beobot.conf" or another specified file              */
00042 
00043 class BeobotConfig
00044 {
00045 public:
00046   //!default constructor, open config fileName and read
00047   BeobotConfig(std::string fileName);
00048   //!default constructor, open config "Beobot.conf" and read
00049   BeobotConfig();
00050   //!default destructor
00051   ~BeobotConfig();
00052 
00053   //! speed servo neutral position
00054   unsigned int speedNeutralVal;
00055   //! speed servo minimum position
00056   unsigned int speedMinVal;
00057   //! speed servo maximum position
00058   unsigned int speedMaxVal;
00059 
00060   //! steer servo neutral position
00061   unsigned int steerNeutralVal;
00062   //! steer servo minimum position
00063   unsigned int steerMinVal;
00064   //! steer servo maximum position
00065   unsigned int steerMaxVal;
00066 
00067   //! gear servo neutral position
00068   unsigned int gearNeutralVal;
00069   //! gear servo minimum position
00070   unsigned int gearMinVal;
00071   //! gear servo maximum position
00072   unsigned int gearMaxVal;
00073 
00074   //! PWM0 pulse neutral value
00075   unsigned int pwm0NeutralVal;
00076   //! PWM0 pulse minimum value
00077   unsigned int pwm0MinVal;
00078   //! PWM0 pulse maximum value
00079   unsigned int pwm0MaxVal;
00080 
00081   //! PWM1 pulse neutral value
00082   unsigned int pwm1NeutralVal;
00083   //! PWM1 pulse minimum value
00084   unsigned int pwm1MinVal;
00085   //! PWM1 pulse maximum value
00086   unsigned int pwm1MaxVal;
00087 
00088   //! speed servo number on BeoChip
00089   unsigned int speedServoNum;
00090   //! steering servo number on BeoChip
00091   unsigned int steerServoNum;
00092   //! gear servo number on BeoChip
00093   unsigned int gearServoNum;
00094   //! BeoChip serial port device;
00095   std::string beoChipPort;
00096 
00097 private:
00098   readConfig readconfig;
00099   void init();
00100 };
00101 
00102 #endif
00103 
00104 // ######################################################################
00105 /* So things look consistent in everyone's emacs... */
00106 /* Local Variables: */
00107 /* indent-tabs-mode: nil */
00108 /* End: */
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