ExampleDPPanTiltControl.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 ExampleDPPanTiltControl.cpp
    @relates DPPanTiltControl
    @ingroup g_examples    
    @brief Simple example for usage of Directed Perception PTU

    Maximal pan positions (left,right) are -3091,+3019 = -159,+159 degree
    Maximal tilt positions (down,up) are -913,+602 = -47,+31 degree
    Resolution degree per position is 0.051428
    Maximal unloaded speed is 5833 positions/second = 300 degree/second

    @author MIP
*/

#include <PanTilt/DPPanTiltControl.hh>

using namespace BIAS;
using namespace std;

int main(int argc, char *argv[])
{

  BIAS::DPPanTiltControl panTiltControl; 
  bool bRet = false;
  if (argc < 2)
    bRet = panTiltControl.InitPanTiltUnit(0);
  else
    bRet = panTiltControl.InitPanTiltUnit(argv[1]);
  if (!bRet) {
    cout << "Initialising PTU failed!" << endl;
    return -1;
  }
  panTiltControl.AwaitCompletion();

  panTiltControl.SetMode(ABSOLUTEMODE);
  panTiltControl.SetSpeed(1000, 1000);
  panTiltControl.SetAcceleration(250, 250);

  if (argc > 2) {
    if (argv[2][0] == '-' && argv[2][1] == 'r') {
      panTiltControl.SetPosition(0, 0);
      cout << "Reset pan-tilt unit." << endl;
      panTiltControl.ClosePanTiltUnit();
      return 0;
    }
  }

  bool quit = false;
  char input;
  int actPan = -DPPTU_MINPAN;
  int actTilt = 0;
  int degree = 0;
  panTiltControl.SetSpeed(DPPTU_MAXSPEED/10, DPPTU_MAXSPEED/10);

  while (!quit) {

    actPan = (int)((double)degree/panTiltControl.GetPanResolution()) + DPPTU_MINPAN;

    if (actPan > DPPTU_MAXPAN || actTilt > DPPTU_MAXTILT ||
        actPan < DPPTU_MINPAN || actTilt < DPPTU_MINTILT) {
      quit = true;
      break;
    }
   
    panTiltControl.SetPosition(actPan, actTilt);

    // send synchronisation command to PTU and wait for answer

    cout << (double)(actPan-DPPTU_MINPAN)*panTiltControl.GetPanResolution()
         << " degree reached. Continue? (y/n) ";
    cin >> input;
    cout << endl;
    if (input == 'N' || input == 'n') quit = true;

    degree += 5;
  }  

  panTiltControl.ClosePanTiltUnit();
  return 0;
}