BeeStem3 Class Reference

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List of all members.

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< SerialitsPort
 Serial port to use.
pthread_mutex_t itsSerialLock

Detailed Description

Definition at line 60 of file BeeStem3.H.


Constructor & Destructor Documentation

BeeStem3::BeeStem3 ( OptionManager mgr,
const std::string descrName = "BeeStem3 Driver",
const std::string tagName = "BeeStem3",
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.


Member Data Documentation

Serial port to use.

Definition at line 106 of file BeeStem3.H.

Referenced by BeeStem3().


The documentation for this class was generated from the following files:
Generated on Sun May 8 08:43:07 2011 for iLab Neuromorphic Vision Toolkit by  doxygen 1.6.3