Basic controller interface for Directed Perception Pan Tilt Unit. More...

#include <PanTilt/DPPanTiltControl.hh>

Inheritance diagram for BIAS::DPPanTiltControl:

Public Types
enum	DPPanTiltStepping { AUTO = 0, HALF, QUARTER, EIGHTH, FULL }

Public Member Functions
void	AwaitCompletion ()
	Await completion of currently executed command. More...

void	ClosePanTiltUnit ()
	closes the comport stream connected to PTU More...

	DPPanTiltControl ()
	Standard constructor. More...

void	GetAcceleration (long &panAcc, long &tiltAcc)

void	GetCurrentPosition (long &lPanPos, long &lTiltPos)

void	GetCurrentPositionDegrees (double &dPanDeg, double &dTiltDeg)

void	GetCurrentPositionRadians (double &dPanRad, double &dTiltRad)

double	GetPanResolution ()
	Get the resolution of the pan axis. More...

void	GetSpeed (long &panSpeed, long &tiltSpeed)

double	GetTiltResolution ()
	Get the resolution of the tilt axis. More...

bool	InitPanTiltUnit (int nPort, bool bUSB=false)
	Open the given serial port and initialize the pan tilt unit. More...

bool	InitPanTiltUnit (const char *portName)
	Open the given port and initialize the pan tilt unit. More...

void	MoveDown (int nValue)
	Move camera nValue steps downwards. More...

void	MoveLeft (int nValue)
	Move camera nValue steps left. More...

void	MoveRight (int nValue)
	Move camera nValue steps right. More...

void	MoveUp (int nValue)
	Move camera nValue steps upwards. More...

void	QueryResolution (double &panResolution, double &tiltResolution, bool updateInternal=false)
	Get resolution of the motor. More...

int	ReadRawLine (std::string &cmd)
	Read a line from the serial (or USB) port. More...

bool	ResetPanTiltUnit ()
	Reset the position of the pan tilt unit to 0. More...

void	SendRawCommand (std::string cmd)
	Send a command string terminated by a space or carriage return character to the serial (or USB) port. More...

char	SetAcceleration (int nPanAcc, int nTiltAcc)
	Set acceleration for movement. More...

int	SetMode (int nMode)
	Set the mode in which the camera is to operate. More...

int	SetMotorStepping (int panStepping, int tiltStepping)
	Set the stepping of the motor. More...

void	SetPosition (int nPanPos, int nTiltPos, bool bWaitComplete=true)
	Set the current position of the PTU in steps. More...

char	SetSpeed (int nPanSpeed, int nTiltSpeed)
	Set speed for movement. More...

void	StartCircularMovement ()
	Start a thread moving the PTU in a circle. More...

void	StopPanTiltUnit ()
	Stop the currently moving pan tilt unit. More...

void	UseDefaultOrientation (bool use)
	Set the orientation of the PTU (default or upside-down). More...

	~DPPanTiltControl ()
	Standard destructor. More...

Protected Attributes
bool	bDefaultOrientation_

portstream_fd	COMstream_

short int	maxSpeed_

double	panResolution_

double	tiltResolution_

Detailed Description

Basic controller interface for Directed Perception Pan Tilt Unit.

Author: MIP

Examples:: ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 69 of file DPPanTiltControl.hh.

Member Enumeration Documentation

enum BIAS::DPPanTiltControl::DPPanTiltStepping

Enumerator
AUTO
HALF
QUARTER
EIGHTH
FULL

Definition at line 73 of file DPPanTiltControl.hh.

Constructor & Destructor Documentation

DPPanTiltControl::DPPanTiltControl ( )

Standard constructor.

Definition at line 12 of file DPPanTiltControl.cpp.

DPPanTiltControl::~DPPanTiltControl ( )

Standard destructor.

Definition at line 20 of file DPPanTiltControl.cpp.

Member Function Documentation

void DPPanTiltControl::AwaitCompletion ( )

Await completion of currently executed command.

Examples:: ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 90 of file DPPanTiltControl.cpp.

void DPPanTiltControl::ClosePanTiltUnit ( )

closes the comport stream connected to PTU

Examples:: ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 156 of file DPPanTiltControl.cpp.

Referenced by BIAS::PanTiltAutoControl::~PanTiltAutoControl().

void DPPanTiltControl::GetAcceleration	(	long &	panAcc,
		long &	tiltAcc
	)

Returns: Returns the current acceleration

Definition at line 190 of file DPPanTiltControl.cpp.

void DPPanTiltControl::GetCurrentPosition	(	long &	lPanPos,
		long &	lTiltPos
	)

Returns: Returns the current position of the PTU in steps

Definition at line 229 of file DPPanTiltControl.cpp.

Referenced by BIAS::PanTiltAutoControl::StartControl(), BIAS::PanTiltAutoControl::StartMoveTo(), and BIAS::DPPanTiltControlExtended::threadFuncCircle_().

void DPPanTiltControl::GetCurrentPositionDegrees	(	double &	dPanDeg,
		double &	dTiltDeg
	)

Returns: Returns the current position of the PTU in degrees

Definition at line 236 of file DPPanTiltControl.cpp.

void DPPanTiltControl::GetCurrentPositionRadians	(	double &	dPanRad,
		double &	dTiltRad
	)

Returns: Returns the current position of the PTU in radians

Definition at line 243 of file DPPanTiltControl.cpp.

double BIAS::DPPanTiltControl::GetPanResolution ( )

inline

Get the resolution of the pan axis.

Returns: Returns the pan resolution in radians per step

Examples:: ExampleDPPanTiltControl.cpp.

Definition at line 141 of file DPPanTiltControl.hh.

void DPPanTiltControl::GetSpeed	(	long &	panSpeed,
		long &	tiltSpeed
	)

Returns: Returns the current speed

Definition at line 176 of file DPPanTiltControl.cpp.

double BIAS::DPPanTiltControl::GetTiltResolution ( )

inline

Get the resolution of the tilt axis.

Returns: Returns the tilt resolution in radians per step

Definition at line 145 of file DPPanTiltControl.hh.

bool DPPanTiltControl::InitPanTiltUnit	(	int	nPort,
		bool	bUSB = `false`
	)

Open the given serial port and initialize the pan tilt unit.

Parameters

[in]	nPort	The number of the serial port (or USB port)
[in]	bUSB	Use USB port instead of serial port

Returns: Returns true on success, false for errors

Examples:: ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 95 of file DPPanTiltControl.cpp.

bool DPPanTiltControl::InitPanTiltUnit ( const char * portName )

Open the given port and initialize the pan tilt unit.

Parameters

[in] portName The name of the serial port or USB port to open, e.g. /dev/ttyUSB0

Returns: Returns true on success, false for errors

Definition at line 114 of file DPPanTiltControl.cpp.

void DPPanTiltControl::MoveDown ( int nValue )

Move camera nValue steps downwards.

Definition at line 204 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnDown().

void DPPanTiltControl::MoveLeft ( int nValue )

Move camera nValue steps left.

Definition at line 212 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnLeft().

void DPPanTiltControl::MoveRight ( int nValue )

Move camera nValue steps right.

Definition at line 220 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnRight().

void DPPanTiltControl::MoveUp ( int nValue )

Move camera nValue steps upwards.

Definition at line 196 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnUp().

void DPPanTiltControl::QueryResolution	(	double &	panResolution,
		double &	tiltResolution,
		bool	updateInternal = `false`
	)

Get resolution of the motor.

Parameters

[out]	panResolution	Return the pan resolution
[out]	tiltResolution	Returns the tilt resolution

Definition at line 430 of file DPPanTiltControl.cpp.

int DPPanTiltControl::ReadRawLine ( std::string & cmd )

Read a line from the serial (or USB) port.

Returns: Returns the length of the read string, or 0 when nothing has been read

Definition at line 269 of file DPPanTiltControl.cpp.

bool DPPanTiltControl::ResetPanTiltUnit ( )

Reset the position of the pan tilt unit to 0.

Returns: Returns true on success, false for errors

Definition at line 54 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnReset().

void DPPanTiltControl::SendRawCommand ( std::string cmd )

Send a command string terminated by a space or carriage return character to the serial (or USB) port.

Definition at line 264 of file DPPanTiltControl.cpp.

char DPPanTiltControl::SetAcceleration	(	int	nPanAcc,
		int	nTiltAcc
	)

Set acceleration for movement.

Examples:: ExampleDPPanTiltControl.cpp.

Definition at line 182 of file DPPanTiltControl.cpp.

int DPPanTiltControl::SetMode ( int nMode )

Set the mode in which the camera is to operate.

Parameters

[in] nMode Defines the mode, 0 is speed control mode, 1 is absolute positioning mode

Returns: Returns 0 on success, != 0 for errors

Examples:: ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 24 of file DPPanTiltControl.cpp.

Referenced by BIAS::DPPanTiltControlDialog::OnQuit(), BIAS::PanTiltManualControl::StartControl(), BIAS::PanTiltAutoControl::StartControl(), BIAS::PanTiltAutoControl::StartMoveTo(), and BIAS::DPPanTiltControlExtended::threadFuncCircle_().

int DPPanTiltControl::SetMotorStepping	(	int	panStepping,
		int	tiltStepping
	)

Set the stepping of the motor.

Definition at line 279 of file DPPanTiltControl.cpp.

void DPPanTiltControl::SetPosition	(	int	nPanPos,
		int	nTiltPos,
		bool	bWaitComplete = `true`
	)

Set the current position of the PTU in steps.

Examples:: ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 250 of file DPPanTiltControl.cpp.

Referenced by BIAS::PanTiltManualControl::StartControl(), and BIAS::DPPanTiltControlExtended::threadFuncCircle_().

char DPPanTiltControl::SetSpeed	(	int	nPanSpeed,
		int	nTiltSpeed
	)

Set speed for movement.

Examples:: ExampleDPPanTiltControl.cpp, and ExampleDPPanTiltControl2.cpp.

Definition at line 168 of file DPPanTiltControl.cpp.

Referenced by BIAS::PanTiltManualControl::StartControl(), BIAS::PanTiltAutoControl::StartControl(), BIAS::PanTiltAutoControl::StartMoveTo(), BIAS::PanTiltAutoControl::StopControl(), and BIAS::DPPanTiltControlExtended::threadFuncCircle_().

void BIAS::DPPanTiltControl::StartCircularMovement ( )

Start a thread moving the PTU in a circle.

void DPPanTiltControl::StopPanTiltUnit ( )

Stop the currently moving pan tilt unit.

Definition at line 83 of file DPPanTiltControl.cpp.

void BIAS::DPPanTiltControl::UseDefaultOrientation ( bool use )

inline

Set the orientation of the PTU (default or upside-down).

Parameters

[in] use Use true for default orientation and false for mounting upside down (e.g. when mounted under helicopter)

Note: Implemented for helicopter project by Ingo Schiller

Definition at line 187 of file DPPanTiltControl.hh.

Member Data Documentation

bool BIAS::DPPanTiltControl::bDefaultOrientation_

protected

Definition at line 194 of file DPPanTiltControl.hh.

portstream_fd BIAS::DPPanTiltControl::COMstream_

protected

Definition at line 191 of file DPPanTiltControl.hh.

short int BIAS::DPPanTiltControl::maxSpeed_

protected

Definition at line 192 of file DPPanTiltControl.hh.

double BIAS::DPPanTiltControl::panResolution_

protected

Definition at line 193 of file DPPanTiltControl.hh.

double BIAS::DPPanTiltControl::tiltResolution_

protected

Definition at line 193 of file DPPanTiltControl.hh.

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

PanTilt/DPPanTiltControl.hh
PanTilt/DPPanTiltControl.cpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation