A USB-interface for a custom "robotic neck" designed at MAPIR lab.
Definition at line 24 of file CServoeNeck.h.
#include <mrpt/hwdrivers/CServoeNeck.h>
Public Types | |
enum | TSeekOrigin { sFromBeginning = 0 , sFromCurrent = 1 , sFromEnd = 2 } |
Used in CStream::Seek. More... | |
Public Member Functions | |
CServoeNeck () | |
~CServoeNeck () | |
bool | queryFirmwareVersion (std::string &out_firmwareVersion) |
Gets the firmware version of the eNeck board. More... | |
bool | getCurrentAngle (double &angle, const uint8_t servo=0) |
Gets the current angle of the servo (in radians within (-pi,pi)) More... | |
bool | setAngle (double angle, const uint8_t servo=0, bool fast=false) |
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) More... | |
bool | setAngleAndSpeed (double angle, const uint8_t servo, const uint8_t speed) |
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) More... | |
bool | setAngleWithFilter (double angle, const uint8_t servo=0, bool fast=false) |
Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles. More... | |
bool | disableServo (const uint8_t servo=0) |
Disables the servo so the neck will be loose. More... | |
bool | enableServo (const uint8_t servo=0) |
Enables the servo so the neck will be tight. More... | |
bool | center (const uint8_t servo=0) |
Centers the servo at zero position. More... | |
double | getTruncateFactor () |
Gets the truncate factor of the turn. More... | |
void | setTruncateFactor (const double factor) |
Gets the truncate factor of the turn. More... | |
void | setNumberOfPreviousAngles (const unsigned int number) |
Gets the truncate factor of the turn. More... | |
unsigned int | getNumberOfPreviousAngles () |
Gets the truncate factor of the turn. More... | |
void | setOffsets (float offset0, float offset1, float offset2) |
Load the Offset values for each servo. More... | |
bool | isOpen () |
Checks whether the chip has been successfully open. More... | |
void | OpenBySerialNumber (const std::string &serialNumber) |
Open by device serial number. More... | |
void | OpenByDescription (const std::string &description) |
Open by device description. More... | |
void | Close () |
Close the USB device. More... | |
void | ResetDevice () |
Reset the USB device. More... | |
void | Purge () |
Purge the I/O buffers. More... | |
void | SetLatencyTimer (unsigned char latency_ms) |
Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. More... | |
void | SetTimeouts (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms) |
Change read & write timeouts, in milliseconds. More... | |
void | ListAllDevices (TFTDIDeviceList &outList) |
Generates a list with all FTDI devices connected right now. More... | |
size_t | ReadSync (void *Buffer, size_t Count) |
Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. More... | |
size_t | WriteSync (const void *Buffer, size_t Count) |
Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. More... | |
virtual size_t | ReadBufferImmediate (void *Buffer, size_t Count) |
Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). More... | |
virtual uint64_t | Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0 |
Introduces a pure virtual method for moving to a specified position in the streamed resource. More... | |
size_t | ReadBuffer (void *Buffer, size_t Count) |
Reads a block of bytes from the stream into Buffer. More... | |
template<typename T > | |
size_t | ReadBufferFixEndianness (T *ptr, size_t ElementCount) |
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. More... | |
void | WriteBuffer (const void *Buffer, size_t Count) |
Writes a block of bytes to the stream from Buffer. More... | |
template<typename T > | |
void | WriteBufferFixEndianness (const T *ptr, size_t ElementCount) |
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). More... | |
size_t | CopyFrom (mrpt::utils::CStream *Source, size_t Count) |
Copies a specified number of bytes from one stream to another. More... | |
void | WriteObject (const CSerializable *o) |
Writes an object to the stream. More... | |
CSerializablePtr | ReadObject () |
Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More... | |
void | ReadObject (CSerializable *existingObj) |
Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. More... | |
CStream & | operator<< (const CSerializablePtr &pObj) |
Write an object to a stream in the binary MRPT format. More... | |
CStream & | operator<< (const CSerializable &obj) |
Write an object to a stream in the binary MRPT format. More... | |
CStream & | operator>> (CSerializablePtr &pObj) |
CStream & | operator>> (CSerializable &obj) |
virtual int | printf (const char *fmt,...) MRPT_printf_format_check(2 |
Writes a string to the stream in a textual form. More... | |
template<typename T > | |
virtual int void | printf_vector (const char *fmt, const std::vector< T > &V) |
Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element. More... | |
void | sendMessage (const utils::CMessage &msg) |
Send a message to the device. More... | |
bool | receiveMessage (utils::CMessage &msg) |
Tries to receive a message from the device. More... | |
bool | getline (std::string &out_str) |
Reads from the stream until a ' ' character is found ('\r' characters are ignored). More... | |
Protected Member Functions | |
bool | setRegisterValue (const uint16_t value, const uint8_t servo=0, bool fast=false) |
bool | setRegisterValueAndSpeed (const uint16_t value, const uint8_t servo, const uint16_t speed) |
bool | getRegisterValue (uint16_t &value, const uint8_t servo=0) |
size_t | Read (void *Buffer, size_t Count) |
Introduces a pure virtual method responsible for reading from the stream. More... | |
size_t | Write (const void *Buffer, size_t Count) |
Introduces a pure virtual method responsible for writing to the stream. More... | |
uint64_t | Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) |
This virtual method does nothing in this class. More... | |
uint64_t | getTotalBytesCount () |
This virtual method does nothing in this class. More... | |
uint64_t | getPosition () |
This virtual method does nothing in this class. More... | |
void | ftdi_read (void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead) |
void | ftdi_write (const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes) |
void | recursive_fill_list_devices (void *usb_device_structure, TFTDIDeviceList &outList) |
Process recursively a USB device and its children: More... | |
template<bool EXISTING_OBJ> | |
CSerializable * | internal_ReadObject (CSerializable *existingObj=NULL) |
A common template code for both versions of CStream::ReadObject() More... | |
Protected Attributes | |
std::string | m_usbSerialNumber |
A copy of the device serial number (to open the USB FTDI chip). More... | |
double | m_MaxValue |
The value set in the ICR register within the ATMEGA16 controller. More... | |
double | m_TruncateFactor |
The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)". More... | |
std::deque< double > | m_PrevAngles |
A vector containing the last N angles which where passed to the servo (for averaging) More... | |
unsigned int | m_NumPrevAngles |
Number of previous angles to store for averaging. More... | |
std::vector< float > | m_offsets |
The offset used for each servo. More... | |
mrpt::utils::circular_buffer< uint8_t > | m_readBuffer |
Used in Read. More... | |
void * | m_ftdi_context |
Private Member Functions | |
unsigned int | angle2RegValue (const double angle) |
Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only). More... | |
double | regValue2angle (const uint16_t value) |
Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only). More... | |
bool | checkConnectionAndConnect () |
Tries to connect to the USB device (if disconnected). More... | |
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inherited |
mrpt::hwdrivers::CServoeNeck::CServoeNeck | ( | ) |
mrpt::hwdrivers::CServoeNeck::~CServoeNeck | ( | ) |
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private |
Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only).
The | angle to convert. |
bool mrpt::hwdrivers::CServoeNeck::center | ( | const uint8_t | servo = 0 | ) |
Centers the servo at zero position.
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private |
Tries to connect to the USB device (if disconnected).
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inherited |
Close the USB device.
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inherited |
Copies a specified number of bytes from one stream to another.
bool mrpt::hwdrivers::CServoeNeck::disableServo | ( | const uint8_t | servo = 0 | ) |
Disables the servo so the neck will be loose.
Servo | the id of the servo to move (in our ATMEGA16, from 0 to 2). |
bool mrpt::hwdrivers::CServoeNeck::enableServo | ( | const uint8_t | servo = 0 | ) |
Enables the servo so the neck will be tight.
Servo | the id of the servo to move (in our ATMEGA16, from 0 to 2). |
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protectedinherited |
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protectedinherited |
bool mrpt::hwdrivers::CServoeNeck::getCurrentAngle | ( | double & | angle, |
const uint8_t | servo = 0 |
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) |
Gets the current angle of the servo (in radians within (-pi,pi))
Angle | [OUT] The current angle. |
Servo | [IN] The id of the servo (in our ATMEGA16, from 0 to 2). |
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inherited |
Reads from the stream until a '
' character is found ('\r' characters are ignored).
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inline |
Gets the truncate factor of the turn.
Definition at line 97 of file CServoeNeck.h.
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protectedvirtualinherited |
This virtual method does nothing in this class.
Implements mrpt::utils::CStream.
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protected |
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protectedvirtualinherited |
This virtual method does nothing in this class.
Implements mrpt::utils::CStream.
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inline |
Gets the truncate factor of the turn.
Definition at line 85 of file CServoeNeck.h.
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protectedinherited |
A common template code for both versions of CStream::ReadObject()
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inherited |
Checks whether the chip has been successfully open.
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inherited |
Generates a list with all FTDI devices connected right now.
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inherited |
Open by device description.
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inherited |
Open by device serial number.
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inherited |
Write an object to a stream in the binary MRPT format.
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inherited |
Write an object to a stream in the binary MRPT format.
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inherited |
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inherited |
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virtualinherited |
Writes a string to the stream in a textual form.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::dumpToTextStream(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::dumpToTextStream().
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inlineinherited |
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inherited |
Purge the I/O buffers.
bool mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion | ( | std::string & | out_firmwareVersion | ) |
Gets the firmware version of the eNeck board.
out_firmwareVersion | [OUTPUT] A string containing the firmware version. |
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protectedvirtualinherited |
Introduces a pure virtual method responsible for reading from the stream.
It integrates a cache buffer to speed-up sequences of many, small readings.
Implements mrpt::utils::CStream.
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inherited |
Reads a block of bytes from the stream into Buffer.
std::exception | On any error, or if ZERO bytes are read. |
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inlineinherited |
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.
ElementCount | The number of elements (not bytes) to read. |
ptr | A pointer to the first output element in an array (or std::vector<>, etc...). |
std::exception | On any error, or if ZERO bytes are read. |
Definition at line 95 of file CStream.h.
References mrpt::utils::reverseBytesInPlace().
Referenced by mrpt::math::operator>>().
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virtualinherited |
Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).
In this class this method actually behaves as expected and does not fallback to ReadBuffer().
std::exception | On any error, or if ZERO bytes are read. |
Reimplemented from mrpt::utils::CStream.
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inherited |
Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.
std::exception | On I/O error or undefined class. |
mrpt::utils::CExceptionEOF | On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead. |
Referenced by mrpt::math::operator>>().
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inherited |
Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.
std::exception | On I/O error or different class found. |
mrpt::utils::CExceptionEOF | On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead. |
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inlineinherited |
Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.
Definition at line 126 of file CInterfaceFTDI.h.
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inherited |
Tries to receive a message from the device.
std::exception | On communication errors |
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protectedinherited |
Process recursively a USB device and its children:
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private |
Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only).
The | value to convert. |
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inherited |
Reset the USB device.
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protectedinherited |
This virtual method does nothing in this class.
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pure virtualinherited |
Introduces a pure virtual method for moving to a specified position in the streamed resource.
he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:
Implemented in mrpt::utils::CMemoryStream, mrpt::utils::CFileStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileInputStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CClientTCPSocket, and mrpt::utils::CStdOutStream.
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inherited |
Send a message to the device.
Note that only the low byte from the "type" field will be used.
For frames of size < 255 the frame format is an array of bytes in this order:
For frames of size > 255 the frame format is an array of bytes in this order:
std::exception | On communication errors |
bool mrpt::hwdrivers::CServoeNeck::setAngle | ( | double | angle, |
const uint8_t | servo = 0 , |
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bool | fast = false |
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) |
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)
Angle | the desired angle to turn. |
Servo | the id of the servo to move (in our ATMEGA16, from 0 to 2). |
Fast | indicates if the servo must reach the angle at maximum speed |
bool mrpt::hwdrivers::CServoeNeck::setAngleAndSpeed | ( | double | angle, |
const uint8_t | servo, | ||
const uint8_t | speed | ||
) |
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)
Angle | the desired angle to turn. |
Servo | the id of the servo to move (in our ATMEGA16, from 0 to 2). |
Speed | indicates the speed of the servo |
bool mrpt::hwdrivers::CServoeNeck::setAngleWithFilter | ( | double | angle, |
const uint8_t | servo = 0 , |
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bool | fast = false |
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) |
Turns the servo up to the specified angle (in radians in the range -pi,pi) filtered by average with the last N specified angles.
Angle | the new desired angle to turn. |
Servo | the id of the servo to move (in our ATMEGA16, from 0 to 2). |
Fast | indicates if the servo must reach the angle at maximum speed |
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inherited |
Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic.
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inline |
Gets the truncate factor of the turn.
Definition at line 93 of file CServoeNeck.h.
void mrpt::hwdrivers::CServoeNeck::setOffsets | ( | float | offset0, |
float | offset1, | ||
float | offset2 | ||
) |
Load the Offset values for each servo.
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protected |
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protected |
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inherited |
Change read & write timeouts, in milliseconds.
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inline |
Gets the truncate factor of the turn.
Definition at line 89 of file CServoeNeck.h.
References ASSERT_.
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protectedvirtualinherited |
Introduces a pure virtual method responsible for writing to the stream.
Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.
Implements mrpt::utils::CStream.
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inherited |
Writes a block of bytes to the stream from Buffer.
std::exception | On any error |
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inlineinherited |
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).
ElementCount | The number of elements (not bytes) to write. |
ptr | A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: vector<float> vec = ...
uint32_t N = vec.size();
s << N
if (N)
s.WriteBufferFixEndianness<float>(&vec[0],N);
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std::exception | On any error |
Definition at line 139 of file CStream.h.
Referenced by mrpt::math::operator<<().
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inherited |
Writes an object to the stream.
Referenced by mrpt::math::operator<<().
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inlineinherited |
Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.
Definition at line 133 of file CInterfaceFTDI.h.
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protectedinherited |
Definition at line 227 of file CInterfaceFTDI.h.
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protected |
The value set in the ICR register within the ATMEGA16 controller.
Definition at line 105 of file CServoeNeck.h.
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protected |
Number of previous angles to store for averaging.
Definition at line 108 of file CServoeNeck.h.
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protected |
The offset used for each servo.
Definition at line 109 of file CServoeNeck.h.
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protected |
A vector containing the last N angles which where passed to the servo (for averaging)
Definition at line 107 of file CServoeNeck.h.
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protectedinherited |
Used in Read.
Definition at line 150 of file CInterfaceFTDI.h.
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protected |
The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)".
Definition at line 106 of file CServoeNeck.h.
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protected |
A copy of the device serial number (to open the USB FTDI chip).
Definition at line 104 of file CServoeNeck.h.
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