00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 00029 #ifndef CServoeNeck_H 00030 #define CServoeNeck_H 00031 00032 #include <mrpt/utils/utils_defs.h> 00033 #include <mrpt/hwdrivers/link_pragmas.h> 00034 #include <mrpt/hwdrivers/CInterfaceFTDIMessages.h> 00035 00036 namespace mrpt 00037 { 00038 namespace hwdrivers 00039 { 00040 class HWDRIVERS_IMPEXP CServoeNeck : public hwdrivers::CInterfaceFTDIMessages 00041 { 00042 public: 00043 CServoeNeck(); 00044 ~CServoeNeck(); 00045 00046 /** Gets the firmware version of the eNeck board. 00047 * \param out_firmwareVersion: [OUTPUT] A string containing the firmware version. 00048 * \return Whether or not the procedure succeded. 00049 */ 00050 bool queryFirmwareVersion( std::string &out_firmwareVersion ); 00051 00052 /** Gets the current angle of the servo (in radians within (-pi,pi)) 00053 * \param Angle: [OUT] The current angle. 00054 * \param Servo: [IN] The id of the servo (in our ATMEGA16, from 0 to 2). 00055 * \return Whether or not the procedure succeded. 00056 */ 00057 bool getCurrentAngle( double &angle, const uint8_t servo = 0 ); 00058 00059 /** Turns the servo up to the specified angle (in radians in the range -pi,pi, other values will be saturated to the maximum or the mininum) 00060 * \param Angle: the desired angle to turn. 00061 * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2). 00062 * \param Fast: indicates if the servo must reach the angle at maximum speed 00063 * \return Whether or not the procedure succeded. 00064 */ 00065 bool setAngle( double angle, const uint8_t servo = 0, bool fast = false ); 00066 00067 /** Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles. 00068 * \param Angle: the new desired angle to turn. 00069 * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2). 00070 * \param Fast: indicates if the servo must reach the angle at maximum speed 00071 * \return Whether or not the procedure succeded. 00072 */ 00073 bool setAngleWithFilter( double angle, const uint8_t servo = 0, bool fast = false ); 00074 00075 /** Disables the servo so the neck will be loose. 00076 * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2). 00077 * \return Whether or not the procedure succeded. 00078 */ 00079 bool disableServo( const uint8_t servo = 0 ); 00080 00081 /** Enables the servo so the neck will be tight. 00082 * \param Servo: the id of the servo to move (in our ATMEGA16, from 0 to 2). 00083 * \return Whether or not the procedure succeded. 00084 */ 00085 bool enableServo( const uint8_t servo = 0 ); 00086 00087 /** Centers the servo at zero position 00088 */ 00089 bool center( const uint8_t servo = 0 ); 00090 00091 /** Gets the truncate factor of the turn 00092 */ 00093 double getTruncateFactor(){ return m_TruncateFactor; } 00094 00095 /** Gets the truncate factor of the turn 00096 */ 00097 void setTruncateFactor( const double factor ){ ASSERT_( factor > 0 && factor < 1 ); m_TruncateFactor = factor; } 00098 00099 /** Gets the truncate factor of the turn 00100 */ 00101 void setNumberOfPreviousAngles( const unsigned int number ){ m_NumPrevAngles = number; } 00102 00103 /** Gets the truncate factor of the turn 00104 */ 00105 unsigned int getNumberOfPreviousAngles(){ return m_NumPrevAngles; } 00106 00107 protected: 00108 std::string m_usbSerialNumber; //!< A copy of the device serial number (to open the USB FTDI chip). 00109 double m_MaxValue; //!< The value set in the ICR register within the ATMEGA16 controller. 00110 double m_TruncateFactor; //!< The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)". 00111 std::deque<double> m_PrevAngles; //!< A vector containing the last N angles which where passed to the servo (for averaging) 00112 unsigned int m_NumPrevAngles; //!< Number of previous angles to store for averaging 00113 00114 bool setRegisterValue( const uint16_t value, const uint8_t servo = 0, bool fast = false ); 00115 bool getRegisterValue( uint16_t &value, const uint8_t servo = 0 ); 00116 00117 private: 00118 /** Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only). 00119 * \param The angle to convert. 00120 * \return The value of the register to send. 00121 */ 00122 unsigned int angle2RegValue( const double angle ); // Angle in rad 00123 00124 /** Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only). 00125 * \param The value to convert. 00126 * \return The corresponding angle. 00127 */ 00128 double regValue2angle( const uint16_t value ); 00129 00130 /** Tries to connect to the USB device (if disconnected). 00131 * \return True on connection OK, false on error. 00132 */ 00133 bool checkConnectionAndConnect(); 00134 00135 }; // End of class 00136 00137 } // End of namespace 00138 00139 } // End of namespace 00140 00141 #endif
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