ExampleIselLinearControlTwoAxis.cpp

/*
This file is part of the BIAS library (Basic ImageAlgorithmS).

Copyright (C) 2003-2009    (see file CONTACT for details)
  Multimediale Systeme der Informationsverarbeitung
  Institut fuer Informatik
  Christian-Albrechts-Universitaet Kiel


BIAS is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

BIAS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with BIAS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

/** @example ExampleIselLinearControlTwoAxis.cpp
    @relates IselLinearControlTwoAxis
    @ingroup g_examples
    @brief  Example for using the Isel iMC-S8 linear controller,
            defines a command line interface
    @author MIP
*/

#include <PanTilt/IselLinearControlTwoAxis.hh>

using namespace BIAS;
using namespace std;

int main(int argc, char *argv[])
{
  char menuChoice;
  int input, input2;
  float f, f2;
  string s;
  IselLinearControlTwoAxis control;


  if(argc != 2) {
    cout << "Usage: ./ExampleIselLinearControlTwoAxis <PortName>" << endl;
    return -1;
  }

  if (control.Init(argv[1]) != 0) {
    cout << "Initialising IGOR unit on serial port x failed!" << endl;
    return -1;
  }

  control.SetSpeed(1, 1);

  cout << "bla" << endl;

  while(true) {
    cout << "============================" << endl;
    cout << "(1) move x-axis" << endl;
    cout << "(2) move y-axis" << endl;
    cout << "(3) status output" << endl;
    cout << "(4) set speed" << endl;
    cout << "(5) reference movement" << endl;
    cout << "(6) move free" << endl;
    cout << "(7) position output" << endl;
    cout << "(8) set position" << endl;
    cout << "(9) send command" << endl;
    cout << "(Q) quit" << endl;

    cin >> menuChoice;
    switch (menuChoice) {
    case '1':
      cout << "move distance (mm):" << endl;
      cin >> input;
      control.Move(input,0);
      break;
    case '2':
      cout << "move distance (mm):" << endl;
      cin >> input;
      control.Move(0,input);
      break;
    case '3':
      control.SendRawCommand("@0h\r");
      while (control.ReadRawLine(s) == 0) {}
      cout << s << endl;
      break;
    case '4':
      cout << "set speed on x-axis (mm/sec) to:" << endl;
      cin >> input;
      cout << "set speed on y-axis (mm/sec) to:" << endl;
      cin >> input2;
      control.SetSpeed(input, input2);
      break;
    case '5':
      control.Reset();
      break;
    case '6':
      control.SendRawCommand("@0F1\r");
      control.SendRawCommand("@03\r");
      break;
    case '7':
      control.GetCurrentPosition(f, f2);
      cout << "position (mm): " << f <<", " << f2 << endl;
      break;
    case '8':
      cout << "set position on x-axis (mm) to:" << endl;
      cin >> input;
      cout << "set position on y-axis (mm) to:" << endl;
      cin >> input2;
      control.SetPosition(input, input2);
      break;
    case '9':
      cout << "enter command:" << endl;
      cin >> s;
      control.SendRawCommand(s + "\r");
      while (control.ReadRawLine(s) == 0) {}
      cout << "return: " << s << endl;
      break;
    case 'Q':
    case 'q':
      return 0;
    default:
      cout << "unknown input!" << endl;
    }
  }
}