52 virtual bool absPosQ(
char axis,
double &nRad);
71 virtual bool offPosQ(
char axis,
double &nRad);
75 virtual bool maxPosQ(
char axis,
double &nRad);
79 virtual bool minPosQ(
char axis,
double &nRad);
126 virtual bool speed(
char axis,
double radSec);
130 virtual bool speedQ(
char axis,
double &radSec);
206 virtual bool setLimits(
char axis,
double &l,
double &u);
228 virtual bool init(
const std::string &port);
239 virtual double radError(
char axis,
double nRadMoved);
257 virtual bool scan(
char axis,
int wait,
float initial,
float final,
double radPre);
312 virtual bool receive(
const char * command,
char * response);
316 virtual bool radQuerry(
char axis,
char command,
double &nRad);
320 virtual bool radAsign(
char axis,
char command,
double nRad);
This class implements initialization and comunication methods to control a generic Pan and Tilt Unit,...
This class implements initialization and comunication methods to control a Tilt Unit model DT-80,...
virtual bool changeMotionDir()
virtual bool enableLimitsQ(bool &enable)
Query if exist movement limits.
virtual bool moveToAbsPos(char axis, double nRad)
Specification of positions in absolute terms.
virtual void clearErrors()
Clear errors.
virtual bool echoMode(bool mode)
Enable/Disable echo response with command.
virtual bool transmit(const char *command)
To transmition commands to the PTU.
virtual bool baseSpeedQ(char axis, double &radSec)
Query velocity to which start and finish the (de/a)celeration.
virtual bool moveToOffPos(char axis, double nRad)
Specify desired axis position as an offset from the current position.
virtual void close()
Close conection with serial port.
virtual bool lowerSpeed(char axis, double radSec)
Specification of velocity lower limit.
virtual bool receive(const char *command, char *response)
To receive the responseof the PTU.
virtual bool radAsign(char axis, char command, double nRad)
Method used for asign a number of radians with a command.
virtual bool init(const std::string &port)
PTU and serial port initialization.
virtual long radToPos(char axis, double nRad)
To obtain the discrete value for a number of radians.
virtual int checkErrors()
Check errors, returns 0 if there are not errors or error code otherwise.
virtual bool halt(char axis)
Inmediately stop.
virtual bool speed(char axis, double radSec)
Specification of turn speed.
virtual void nversion(double &nVersion)
Number of version.
virtual bool restoreFactoryDefaults(void)
Restore factory default values.
virtual bool scan(char axis, int wait, float initial, float final, double radPre)
Performs a scan in the axis indicated and whit the precision desired.
virtual bool haltAll()
Inmediately stop all.
virtual bool powerModeQ(bool transit, char &mode)
Query power mode.
virtual bool maxPosQ(char axis, double &nRad)
Query max movement limit of a axis in absolute terms.
virtual bool verboseQ(bool &modo)
Query verbose mode.
virtual bool restoreDefaults(void)
Restore default values.
virtual bool radQuerry(char axis, char command, double &nRad)
Used to obtains a number of radians.
virtual ~CTuMicos()
Destructor.
bool clear()
Clear controller internal stack.
virtual double status(double &rad)
Check if ptu is moving.
virtual bool baseSpeed(char axis, double radSec)
Specification of velocity to which start and finish the (de/a)celeration.
virtual bool acelerationQ(char axis, double &radSec2)
Query (de/a)celeration in turn.
virtual bool echoModeQ(bool &mode)
Query echo mode.
virtual double radError(char axis, double nRadMoved)
To obtains the mistake for use discrete values when the movement is expressed in radians.
virtual bool upperSpeed(char axis, double radSec)
Specification of velocity upper limit.
virtual bool speedQ(char axis, double &radSec)
Query turn speed.
virtual bool upperSpeedQ(char axis, double &radSec)
Query velocity upper limit.
virtual bool reset(void)
Reset PTU to initial state.
virtual bool save(void)
Save or restart default values.
virtual bool powerMode(bool transit, char mode)
Specification of power mode.
virtual bool minPosQ(char axis, double &nRad)
Query min movement limit of a axis in absolute terms.
static double convertToDouble(char *sDouble)
Convert string to double.
virtual bool verbose(bool set)
Set verbose.
virtual bool rangeMeasure()
Search limit forward.
virtual bool resolution(void)
Query the pan and tilt resolution per position moved and initialize local atributes.
virtual bool enableLimits(bool set)
Enable/Disable movement limits.
virtual bool offPosQ(char axis, double &nRad)
Query position in relative terms.
static long convertToLong(char *sLong)
Convert string to long.
virtual bool aceleration(char axis, double radSec2)
Specification (de/a)celeration in turn.
virtual bool lowerSpeedQ(char axis, double &radSec)
Query velocity lower limit.
virtual bool inmediateExecution(bool set)
With I mode (default) instructs pan-tilt unit to immediately execute positional commands.
virtual bool absPosQ(char axis, double &nRad)
Query position in absolute terms.
virtual bool setLimits(char axis, double &l, double &u)
Set limits of movement.
virtual double posToRad(char axis, long nPos)
To obtain the number of radians for a discrete value.
virtual bool version(char *nVersion)
Version and CopyRights.
CTuMicos()
Default constructor.
virtual bool aWait(void)
Wait the finish of the last position command to continue accept commands.
This base class provides a common printf-like method to send debug information to std::cout,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.