BeoChip Class Reference

BeoChip.H Interface to Brian Hudson's BeoChip device. More...

#include <Devices/BeoChip.H>

Inheritance diagram for BeoChip:

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Collaboration diagram for BeoChip:

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List of all members.

Public Member Functions
void	run ()
	This is our main running thread - don't call directly.
bool	writeByte (const byte val, const bool uselock=true)
	send a byte to the BeoChip
Constructors, destructors and debugging

	BeoChip (OptionManager &mgr, const std::string &descrName="BeoChip", const std::string &tagName="BeoChip")
	Default constructor. See ModelComponent.H.
	~BeoChip ()
	Destructor.
void	setListener (rutz::shared_ptr< BeoChipListener > &listener)
	Install a callback (listener) for BeoChip events.
bool	echoRequest ()
	Send an echo request.
bool	debugMode (const bool on)
	Turn debug mode on/off.
bool	resetChip ()
	Reset the BeoChip.
LCD functions

bool	lcdGotoXY (const int x=0, const int y=0)
	Go to given cursor position.
bool	lcdGoto (const int i=0)
	Go to given cursor position.
bool	lcdPrintf (const char *fmt,...) __attribute__((format(__printf__
	Print some text.
bool bool	lcdPrintf (const int x, const int y, const char *fmt,...) __attribute__((format(__printf__
	Print some text starting at given cursor position.
bool bool bool	lcdClear ()
	Clear LCD screen.
bool	lcdScrollLeft (const int i=1)
	Scroll display left by i positions.
bool	lcdScrollRight (const int i=1)
	Scroll display right by i positions.
bool	lcdMoveCursorLeft (const int i=1)
	Move cursor left by i positions.
bool	lcdMoveCursorRight (const int i=1)
	Move cursor right by i positions.
bool	lcdCursorBlock ()
	Make cursor a blinking block.
bool	lcdCursorUnderline ()
	Make cursor a blinking underline.
bool	lcdCursorInvisible ()
	Make cursor invisible (not recommended).
bool	lcdLoadFont (const int font)
	Load one of the pre-programmed custom fonts.
bool	lcdLoadFont (const byte data[64])
	Load a new font from an array of 64 bytes.
bool	lcdSetAnimation (const int anim=0)
	Select an LCD animation and start it.
bool	lcdSendRaw (const byte val, const bool RS, const bool uselock=true)
	Send a raw byte to the LCD.
Servo control functions

bool	shimServos (const byte shim)
	Shim the BeoChip's servo pulses.
void	calibrateServo (const int servo, const byte neutralval, const byte minval, const byte maxval)
	Calibrate a servo.
bool	setServo (const int servo, const float position)
	Moves servo # to given position in [-1.0 .. 1.0].
float	getServo (const int servo) const
	Gets the current position of given servo.
bool	setServoRaw (const int servo, const byte val)
	Sets servo number servo to value val.
byte	getServoRaw (const int servo) const
	Gets the current raw position of given servo.
Pulse acquisition functions

bool	capturePulse (const int whichone, const bool on)
	Turn pulse captures on/off.
void	calibratePulse (const int whichone, const int neutralval, const int minval, const int maxval)
	Calibrate a pulse.
float	getPulse (const int whichone)
	Get current pulse value, between [-1.0..1.0].
short int	getPulseRaw (const int whichone)
	Get current pulse value, raw uncalibrated.
Analog acquisition functions

bool	captureAnalog (const int whichone, const bool on)
	Turn A/D captures on/off.
void	calibrateAnalog (const int whichone, const int neutralval, const int minval, const int maxval)
	Calibrate an A/D converter.
float	getAnalog (const int whichone)
	Get current calibrated Analog value.
byte	getAnalogRaw (const int whichone)
	Get current raw Analog value.
Keyboard acquisition functions

bool	captureKeyboard (const bool on)
	Turn keyboard capture on/off.
bool	debounceKeyboard (const bool on)
	Turn keyboard debouncing on/off.
int	getKeyboard ()
	Get current Keyboard value.
Digital output function

bool	setDigitalOut (const int outnum, const bool on)
	Turn a given digital output on/off.
Protected Member Functions
float	rawToCalib (const int raw, const int zero, const int mini, const int maxi) const
	Convert from raw (int) to calibrated (-1.0..1.0) position.
int	calibToRaw (const float calibrated, const int zero, const int mini, const int maxi, const int bits=8) const
	Convert from calibrated (-1.0..1.0) to raw (int) position.
void	start1 ()
	open the port and get started
void	stop2 ()
	close the port and get stopped
Protected Attributes
NModelParam< std::string >	itsDevName
	name of our serial device
NModelParam< int >	itsLCDrows
	number of rows of LCD screen (lines of text)
NModelParam< int >	itsLCDcols
	number of columns of LCD screen
rutz::shared_ptr< NModelParam < int > > *	zeroS
	zero calibration value, for 0.0F (servo)
rutz::shared_ptr< NModelParam < int > > *	minS
	minimum raw value, for -1.0F (servo)
rutz::shared_ptr< NModelParam < int > > *	maxS
	maximum raw value, for 1.0F (servo)
byte *	servopos
	raw servo positions [0..255]
rutz::shared_ptr< NModelParam < int > > *	zeroP
	zero calibration value, for 0.0F (pulse)
rutz::shared_ptr< NModelParam < int > > *	minP
	minimum raw value, for -1.0F (pulse)
rutz::shared_ptr< NModelParam < int > > *	maxP
	maximum raw value, for 1.0F (pulse)
short int *	pulseval
	raw pulse values (11bit int)
rutz::shared_ptr< NModelParam < int > > *	zeroA
	zero calibration value, for 0.0F (pulse)
rutz::shared_ptr< NModelParam < int > > *	minA
	minimum raw value, for -1.0F (servo)
rutz::shared_ptr< NModelParam < int > > *	maxA
	maximum raw value, for 1.0F (servo)
NModelParam< bool >	itsUseRTSCTS
	Use RTS/CTS flow control.
byte *	adcval
	raw adc values [0..255]
byte	keyboard
	our current keyboard state

Detailed Description

BeoChip.H Interface to Brian Hudson's BeoChip device.

Hardware interface Class. Contains interfaces to display to an LCD, read servo pulse values (2), set servo positions (8), get A/D conversion values (2), manipulate four digital outs, and finally, get some intput from 5 pushbuttons.

Definition at line 104 of file BeoChip.H.

Constructor & Destructor Documentation

BeoChip::BeoChip	(	OptionManager &	mgr,
		const std::string &	descrName = `"BeoChip"`,
		const std::string &	tagName = `"BeoChip"`
	)

Default constructor. See ModelComponent.H.

Definition at line 79 of file BeoChip.C.

References adcval, keyboard, maxA, maxP, maxS, minA, minP, minS, pulseval, rutz::shared_ptr< T >::reset(), servopos, zeroA, zeroP, and zeroS.

BeoChip::~BeoChip ( )

Destructor.

Definition at line 199 of file BeoChip.C.

References adcval, maxA, maxP, maxS, minA, minP, minS, pulseval, servopos, zeroA, zeroP, and zeroS.

Member Function Documentation

void BeoChip::calibrateAnalog	(	const int	whichone,
		const int	neutralval,
		const int	minval,
		const int	maxval
	)

Calibrate an A/D converter.

Calibration will be made so that getAnalog() returns 0.0F when raw value width is 'neutralval', returns -1.0F when the raw value is minval and returns 1.0F when the raw value is maxval.

Definition at line 566 of file BeoChip.C.

References ASSERT, maxA, minA, and zeroA.

void BeoChip::calibratePulse	(	const int	whichone,
		const int	neutralval,
		const int	minval,
		const int	maxval
	)

Calibrate a pulse.

Calibration will be made so that getPulse() returns 0.0F when raw pulse width is 'neutralval', returns -1.0F when the raw pulse value is minval and returns 1.0F when the raw pulse value is maxval.

Definition at line 528 of file BeoChip.C.

References ASSERT, maxP, minP, and zeroP.

void BeoChip::calibrateServo	(	const int	servo,
		const byte	neutralval,
		const byte	minval,
		const byte	maxval
	)

Calibrate a servo.

Calibration will be made so that setServo(servo, 0.0F) will send the value 'neutralval' to the servo, setServo(servo, -1.0F) will send minval and setServo(servo, 1.0F) will send maxval.

Definition at line 464 of file BeoChip.C.

References ASSERT, maxS, minS, and zeroS.

int BeoChip::calibToRaw	(	const float	calibrated,
		const int	zero,
		const int	mini,
		const int	maxi,
		const int	bits = `8`
	)			const `[protected]`

Convert from calibrated (-1.0..1.0) to raw (int) position.

Definition at line 768 of file BeoChip.C.

Referenced by setServo().

bool BeoChip::captureAnalog	(	const int	whichone,
		const bool	on
	)

Turn A/D captures on/off.

Definition at line 557 of file BeoChip.C.

References ASSERT, and writeByte().

bool BeoChip::captureKeyboard ( const bool on )

Turn keyboard capture on/off.

Definition at line 595 of file BeoChip.C.

References writeByte().

bool BeoChip::capturePulse	(	const int	whichone,
		const bool	on
	)

Turn pulse captures on/off.

Definition at line 519 of file BeoChip.C.

References ASSERT, and writeByte().

bool BeoChip::debounceKeyboard ( const bool on )

Turn keyboard debouncing on/off.

Definition at line 602 of file BeoChip.C.

References writeByte().

bool BeoChip::debugMode ( const bool on )

Turn debug mode on/off.

When in debug mode, the BeoChip sends an EchoReply for each command it receives.

Definition at line 232 of file BeoChip.C.

References writeByte().

bool BeoChip::echoRequest ( )

Send an echo request.

The BeoChip should reply with an EchoReply event if it is alive

Definition at line 225 of file BeoChip.C.

References writeByte().

float BeoChip::getAnalog ( const int whichone )

Get current calibrated Analog value.

Definition at line 576 of file BeoChip.C.

References ASSERT, getAnalogRaw(), maxS, minS, rawToCalib(), and zeroS.

byte BeoChip::getAnalogRaw ( const int whichone )

Get current raw Analog value.

Definition at line 585 of file BeoChip.C.

References adcval, and ASSERT.

Referenced by getAnalog().

int BeoChip::getKeyboard ( )

Get current Keyboard value.

Definition at line 609 of file BeoChip.C.

References keyboard.

float BeoChip::getPulse ( const int whichone )

Get current pulse value, between [-1.0..1.0].

Definition at line 538 of file BeoChip.C.

References ASSERT, getPulseRaw(), maxP, minP, rawToCalib(), and zeroP.

short int BeoChip::getPulseRaw ( const int whichone )

Get current pulse value, raw uncalibrated.

Definition at line 547 of file BeoChip.C.

References ASSERT, and pulseval.

Referenced by getPulse().

float BeoChip::getServo ( const int servo ) const

Gets the current position of given servo.

Definition at line 483 of file BeoChip.C.

References ASSERT, getServoRaw(), maxS, minS, rawToCalib(), and zeroS.

byte BeoChip::getServoRaw ( const int servo ) const

Gets the current raw position of given servo.

Definition at line 512 of file BeoChip.C.

References ASSERT, and servopos.

Referenced by getServo().

bool BeoChip::lcdClear ( )

Clear LCD screen.

Definition at line 312 of file BeoChip.C.

References lcdSendRaw().

bool BeoChip::lcdCursorBlock ( )

Make cursor a blinking block.

Definition at line 370 of file BeoChip.C.

References lcdSendRaw().

bool BeoChip::lcdCursorInvisible ( )

Make cursor invisible (not recommended).

Definition at line 378 of file BeoChip.C.

References lcdSendRaw().

bool BeoChip::lcdCursorUnderline ( )

Make cursor a blinking underline.

Definition at line 374 of file BeoChip.C.

References lcdSendRaw().

bool BeoChip::lcdGoto ( const int i = 0 )

Go to given cursor position.

Definition at line 268 of file BeoChip.C.

References lcdSendRaw().

Referenced by lcdGotoXY().

bool BeoChip::lcdGotoXY	(	const int	x = `0`,
		const int	y = `0`
	)

Go to given cursor position.

Definition at line 246 of file BeoChip.C.

References NModelParam< T >::getVal(), itsLCDcols, itsLCDrows, and lcdGoto().

Referenced by lcdPrintf().

bool BeoChip::lcdLoadFont ( const byte data[64] )

Load a new font from an array of 64 bytes.

Definition at line 395 of file BeoChip.C.

References lcdSendRaw().

bool BeoChip::lcdLoadFont ( const int font )

Load one of the pre-programmed custom fonts.

Valid font values are [0..7]. Font 0 is an all-blank font.

Definition at line 382 of file BeoChip.C.

References writeByte().

bool BeoChip::lcdMoveCursorLeft ( const int i = 1 )

Move cursor left by i positions.

Definition at line 344 of file BeoChip.C.

References lcdSendRaw().

bool BeoChip::lcdMoveCursorRight ( const int i = 1 )

Move cursor right by i positions.

Definition at line 357 of file BeoChip.C.

References lcdSendRaw().

bool BeoChip::lcdPrintf	(	const int	x,
		const int	y,
		const char *	fmt,
			...
	)

Print some text starting at given cursor position.

syntax is the same as printf(), plus the x, y coordinates. Returns true on success.

Definition at line 297 of file BeoChip.C.

References NModelParam< T >::getVal(), itsLCDcols, lcdGotoXY(), and lcdPrintf().

bool BeoChip::lcdPrintf	(	const char *	fmt,
			...
	)

Print some text.

syntax is the same as printf(). Returns true on success.

Definition at line 278 of file BeoChip.C.

References NModelParam< T >::getVal(), itsLCDcols, and lcdSendRaw().

Referenced by lcdPrintf().

bool BeoChip::lcdScrollLeft ( const int i = 1 )

Scroll display left by i positions.

Definition at line 318 of file BeoChip.C.

References lcdSendRaw().

bool BeoChip::lcdScrollRight ( const int i = 1 )

Scroll display right by i positions.

Definition at line 331 of file BeoChip.C.

References lcdSendRaw().

bool BeoChip::lcdSendRaw	(	const byte	val,
		const bool	RS,
		const bool	uselock = `true`
	)

Send a raw byte to the LCD.

Definition at line 425 of file BeoChip.C.

References writeByte().

Referenced by lcdClear(), lcdCursorBlock(), lcdCursorInvisible(), lcdCursorUnderline(), lcdGoto(), lcdLoadFont(), lcdMoveCursorLeft(), lcdMoveCursorRight(), lcdPrintf(), lcdScrollLeft(), and lcdScrollRight().

bool BeoChip::lcdSetAnimation ( const int anim = 0 )

Select an LCD animation and start it.

Valid anim values are [0..7]. Anim 0 is no animation.

Definition at line 412 of file BeoChip.C.

References writeByte().

float BeoChip::rawToCalib	(	const int	raw,
		const int	zero,
		const int	mini,
		const int	maxi
	)			const `[protected]`

Convert from raw (int) to calibrated (-1.0..1.0) position.

Definition at line 755 of file BeoChip.C.

Referenced by getAnalog(), getPulse(), getServo(), and run().

bool BeoChip::resetChip ( )

Reset the BeoChip.

Definition at line 239 of file BeoChip.C.

References writeByte().

void BeoChip::run ( )

This is our main running thread - don't call directly.

Should have been protected, but is not because of pthread hack.

Definition at line 644 of file BeoChip.C.

References adcval, rutz::shared_ptr< T >::get(), keyboard, maxA, maxP, minA, minP, MYLOGVERB, pulseval, rawToCalib(), zeroA, and zeroP.

bool BeoChip::setDigitalOut	(	const int	outnum,
		const bool	on
	)

Turn a given digital output on/off.

Valid range for outnum is [0..3]

Definition at line 618 of file BeoChip.C.

References ASSERT, and writeByte().

void BeoChip::setListener ( rutz::shared_ptr< BeoChipListener > & listener )

Install a callback (listener) for BeoChip events.

This callback will be called with the corresponding BeoChipEvenType each time an event is received from the BeoChip.

Definition at line 221 of file BeoChip.C.

bool BeoChip::setServo	(	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 474 of file BeoChip.C.

References ASSERT, calibToRaw(), maxS, minS, setServoRaw(), and zeroS.

bool BeoChip::setServoRaw	(	const int	servo,
		const byte	val
	)

Sets servo number servo to value val.

Definition at line 493 of file BeoChip.C.

References ASSERT, servopos, and writeByte().

Referenced by setServo().

bool BeoChip::shimServos ( const byte shim )

Shim the BeoChip's servo pulses.

Valid shim values are [0..7]. The default at bootup of the BeoChip is 4. Higher values will increase pulse length and lower values will decrease them. This may allow you to shim the pulses so as to maximally exploit the range of your servos.

Definition at line 451 of file BeoChip.C.

References writeByte().

void BeoChip::start1 ( ) [protected, virtual]

open the port and get started

Reimplemented from ModelComponent.

Definition at line 141 of file BeoChip.C.

References NModelParam< T >::getVal(), itsDevName, and itsUseRTSCTS.

void BeoChip::stop2 ( ) [protected, virtual]

close the port and get stopped

Reimplemented from ModelComponent.

Definition at line 186 of file BeoChip.C.

bool BeoChip::writeByte	(	const byte	val,
		const bool	uselock = `true`
	)

send a byte to the BeoChip

You should never have to use this, use the other functions instead. This function is made public just for testing the chip's robustness against a flood of random junk hitting it... See test-BeoChip.C

Definition at line 626 of file BeoChip.C.

References MYLOGVERB.

Referenced by captureAnalog(), captureKeyboard(), capturePulse(), debounceKeyboard(), debugMode(), echoRequest(), lcdLoadFont(), lcdSendRaw(), lcdSetAnimation(), resetChip(), setDigitalOut(), setServoRaw(), and shimServos().