SSC Class Reference

#include <Devices/ssc.H>

Inheritance diagram for SSC:

[legend]Collaboration diagram for SSC:

[legend]List of all members.

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Detailed Description

Interface to a serial-servo-controller.

The ssc.C and ssc.H files has the mini_SSC controller code that help control the servos via the controller. The class is SSC class. Its functions include moving a servo to a specified position, using a serial port. There are two ways to move the servos and thet their current positions: either using calibrated values in [-1.0..1.0], or using raw positions in [0..255]. Calibrated positions are converted to raw using two linear ramps (one for each side of the neutral position) that can be set using the calibrate() function. EXAMPLE: if you do a calibrate(servo, 100, 20, 150), then, subsequently, move(servo, 0.0F) will be equivalent to moveRaw(servo, 100), move(servo, -1.0F) will be equivalent to moveRaw(servo, 20) and move(servo, 1.0F) will be equivalent to moveRaw(servo, 150).

Definition at line 62 of file ssc.H.

Public Member Functions
	SSC (OptionManager &mgr, const std::string &descrName="Mini-SSC Servo Driver", const std::string &tagName="MiniSSCdriver", const char *defdev="/dev/ttyS0")
	Default constructor; see ModelComponent.H.
	~SSC ()
	Destructor.
bool	move (const int servo, const float position)
	Moves servo # to given position in [-1.0 .. 1.0].
float	getPosition (const int servo) const
	Gets the current position of given servo.
void	calibrate (const int servo, const byte neutralval, const byte minval, const byte maxval)
	Calibrate a servo.
bool	moveRaw (const int servo, const byte rawpos)
	Moves servo # to given RAW (uncalibrated) position in [0..255].
bool	moveRawHack (const int servo, const byte rawpos, const int port=1)
	hack work around for moveRaw. Remove when serial stuff is fixed
byte	getPositionRaw (const int servo) const
	Gets the current RAW (uncalibrated) position [0..255] of given servo.
Protected Member Functions
float	rawToCalib (const int servo, const byte rawpos) const
	Convert from raw (0..255) to calibrated (-1.0..1.0) position.
byte	calibToRaw (const int servo, const float position) const
	Convert from calibrated (-1.0..1.0) to raw (0..255) position.
Protected Attributes
nub::soft_ref< Serial >	itsPort
	Serial port to use.
rutz::shared_ptr< NModelParam< float > > *	zero
	zero calibration values
rutz::shared_ptr< NModelParam< float > > *	posmult
	positive multiplier calib
rutz::shared_ptr< NModelParam< float > > *	negmult
	negative multiplier calib
byte *	pos
	raw servo positions [0..255]

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Constructor & Destructor Documentation

SSC::SSC (  OptionManager &  mgr, const std::string &  descrName = "Mini-SSC Servo Driver", const std::string &  tagName = "MiniSSCdriver", const char *  defdev = "/dev/ttyS0" )

Default constructor; see ModelComponent.H. Definition at line 44 of file ssc.C. References ModelComponent::addSubComponent(), buf, i, itsPort, NModelParam< T >::make(), negmult, pos, posmult, SSCNUMSERVOS, and zero.

SSC::~SSC (   )

Destructor. Definition at line 76 of file ssc.C.

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Member Function Documentation

void SSC::calibrate (  const int  servo, const byte  neutralval, const byte  minval, const byte  maxval )

Calibrate a servo. Calibration will be made so that move(servo, 0.0F) will send the value 'neutralval' to the servo, move(servo, -1.0F) will send minval and move(servo, 1.0F) will send maxval. Definition at line 92 of file ssc.C. References LFATAL, negmult, posmult, SSCNUMSERVOS, and zero.

byte SSC::calibToRaw (  const int  servo, const float  position )  const [protected]

Convert from calibrated (-1.0..1.0) to raw (0..255) position. Definition at line 181 of file ssc.C. References LFATAL, negmult, posmult, SSCNUMSERVOS, and zero. Referenced by move().

float SSC::getPosition (  const int  servo  )  const

Gets the current position of given servo. Definition at line 84 of file ssc.C. References LFATAL, pos, rawToCalib(), and SSCNUMSERVOS.

byte SSC::getPositionRaw (  const int  servo  )  const

Gets the current RAW (uncalibrated) position [0..255] of given servo. Definition at line 152 of file ssc.C. References LFATAL, pos, and SSCNUMSERVOS.

bool SSC::move (  const int  servo, const float  position )

Moves servo # to given position in [-1.0 .. 1.0]. Returns true on success, false if some serial error occurred. Definition at line 80 of file ssc.C. References calibToRaw(), and moveRaw().

bool SSC::moveRaw (  const int  servo, const byte  rawpos )

Moves servo # to given RAW (uncalibrated) position in [0..255]. Returns true on success, false if some serial error occurred. Definition at line 104 of file ssc.C. References itsPort, and pos. Referenced by move().

bool SSC::moveRawHack (  const int  servo, const byte  rawpos, const int  port = 1 )

hack work around for moveRaw. Remove when serial stuff is fixed Definition at line 127 of file ssc.C. References LFATAL.

float SSC::rawToCalib (  const int  servo, const byte  rawpos )  const [protected]

Convert from raw (0..255) to calibrated (-1.0..1.0) position. Definition at line 161 of file ssc.C. References LFATAL, negmult, posmult, SSCNUMSERVOS, and zero. Referenced by getPosition().

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Member Data Documentation

nub::soft_ref<Serial> SSC::itsPort [protected]

Serial port to use. Definition at line 99 of file ssc.H. Referenced by moveRaw(), and SSC().

rutz::shared_ptr<NModelParam<float> >* SSC::negmult [protected]

negative multiplier calib Definition at line 102 of file ssc.H. Referenced by calibrate(), calibToRaw(), rawToCalib(), and SSC().

byte* SSC::pos [protected]

raw servo positions [0..255] Definition at line 103 of file ssc.H. Referenced by getPosition(), getPositionRaw(), moveRaw(), and SSC().

rutz::shared_ptr<NModelParam<float> >* SSC::posmult [protected]

positive multiplier calib Definition at line 101 of file ssc.H. Referenced by calibrate(), calibToRaw(), rawToCalib(), and SSC().

rutz::shared_ptr<NModelParam<float> >* SSC::zero [protected]

zero calibration values Definition at line 100 of file ssc.H. Referenced by calibrate(), calibToRaw(), rawToCalib(), and SSC().

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The documentation for this class was generated from the following files:

• src/Devices/ssc.H
• src/Devices/ssc.C

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