Classes | |
| struct | MotorControllerIDs |
Public Member Functions | |
| BeeStem3 (OptionManager &mgr, const std::string &descrName="BeeStem3 Driver", const std::string &tagName="BeeStem3", const char *defdev="/dev/ttyUSB0") | |
| Default constructor; see ModelComponent.H. | |
| ~BeeStem3 () | |
| Destructor. | |
| bool | getSensors (int &accelX, int &accelY, int &accelZ, int &compassHeading, int &compassPitch, int &compassRoll, int &internalPressure, int &externalPressure, int &desiredHeading, int &desiredDepth, int &desiredSpeed, int &headingK, int &headingP, int &headingD, int &headingI, int &headingOutput, int &depthK, int &depthP, int &depthD, int &depthI, int &depthOutput, char &killSwitch) |
| bool | setPID (int pidMode, float k, float p, float i, float d) |
| bool | setDesiredHeading (int16 heading) |
| bool | setDesiredDepth (int16 depth) |
| bool | setDesiredSpeed (char speed) |
| void | setThruster (int num, int val) |
| void | startCompassCalibration () |
| void | endCompassCalibration () |
Public Attributes | |
| std::vector< int > | mMotorControllerState |
Static Public Attributes | |
| static const int | NUM_MOTOR_CONTROLLERS = 9 |
Protected Attributes | |
| nub::soft_ref< Serial > | itsPort |
| Serial port to use. | |
| pthread_mutex_t | itsSerialLock |
Definition at line 60 of file BeeStem3.H.
| BeeStem3::BeeStem3 | ( | OptionManager & | mgr, | |
| const std::string & | descrName = "BeeStem3 Driver", |
|||
| const std::string & | tagName = "BeeStem3", |
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| const char * | defdev = "/dev/ttyUSB0" | |||
| ) |
Default constructor; see ModelComponent.H.
Definition at line 46 of file BeeStem3.C.
References ModelComponent::addSubComponent(), and itsPort.
| BeeStem3::~BeeStem3 | ( | ) |
Destructor.
Definition at line 69 of file BeeStem3.C.
nub::soft_ref<Serial> BeeStem3::itsPort [protected] |
1.6.3