Detailed Description

A USB-interface for a custom "robotic neck" designed at MAPIR lab.

Definition at line 19 of file CServoeNeck.h.

#include <mrpt/hwdrivers/CServoeNeck.h>

Inheritance diagram for mrpt::hwdrivers::CServoeNeck:

Public Types
enum	TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
	Used in CStream::Seek. More...

Public Member Functions
	CServoeNeck ()

	~CServoeNeck () override

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...

size_t	ReadBufferImmediate (void *Buffer, size_t Count) override
	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...

size_t	Read (void *Buffer, size_t Count) override
	Introduces a pure virtual method responsible for reading from the stream. More...

size_t	Write (const void *Buffer, size_t Count) override
	Introduces a pure virtual method responsible for writing to the stream. More...

uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) override
	This virtual method does nothing in this class. More...

virtual uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0
	Introduces a pure virtual method for moving to a specified position in the streamed resource. More...

uint64_t	getTotalBytesCount () const override
	This virtual method does nothing in this class. More...

uint64_t	getPosition () const override
	This virtual method does nothing in this class. More...

virtual int	printf (const char *fmt,...) MRPT_printf_format_check(2
	Writes a string to the stream in a textual form. More...

template<typename CONTAINER_TYPE >
virtual int void	printf_vector (const char *fmt, const CONTAINER_TYPE &V, char separator=',')
	Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element `T`. More...

bool	getline (std::string &out_str)
	Reads from the stream until a ' ' character is found ('' 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)

void	ftdi_read (void lpvBuffer, unsigned long dwBuffSize, unsigned long lpdwBytesRead)

void	ftdi_write (const void lpvBuffer, unsigned long dwBuffSize, unsigned long lpdwBytes)

Protected Attributes
std::string	m_usbSerialNumber
	A copy of the device serial number (to open the USB FTDI chip). More...

double	m_MaxValue {10000}
	The value set in the ICR register within the ATMEGA16 controller. More...

double	m_TruncateFactor {0.5}
	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 {5}
	Number of previous angles to store for averaging. More...

std::vector< float >	m_offsets
	The offset used for each servo. More...

mrpt::containers::circular_buffer< uint8_t >	m_readBuffer
	Used in Read. More...

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...

Member Enumeration Documentation

◆ TSeekOrigin

enum mrpt::io::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 32 of file io/CStream.h.

Constructor & Destructor Documentation

◆ CServoeNeck()

CServoeNeck::CServoeNeck ( )

Definition at line 30 of file CServoeNeck.cpp.

References m_offsets.

◆ ~CServoeNeck()

CServoeNeck::~CServoeNeck ( )

overridedefault

Member Function Documentation

◆ angle2RegValue()

unsigned int CServoeNeck::angle2RegValue ( const double angle )

private

Converts from a decimal angle (in radians) to the corresponding register value for the ATMEGA16 controller (for inner use only).

Parameters

The	angle to convert.

Returns: The value of the register to send.

Definition at line 76 of file CServoeNeck.cpp.

References M_PI.

Referenced by center(), setAngle(), and setAngleAndSpeed().

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◆ center()

bool CServoeNeck::center ( const uint8_t servo = 0 )

Centers the servo at zero position.

Definition at line 392 of file CServoeNeck.cpp.

References angle2RegValue(), m_offsets, and setRegisterValue().

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◆ checkConnectionAndConnect()

bool CServoeNeck::checkConnectionAndConnect ( )

private

Tries to connect to the USB device (if disconnected).

Returns: True on connection OK, false on error.

Definition at line 401 of file CServoeNeck.cpp.

References mrpt::comms::CInterfaceFTDI::Close(), mrpt::comms::CInterfaceFTDI::isOpen(), m_usbSerialNumber, mrpt::comms::CInterfaceFTDI::OpenBySerialNumber(), mrpt::comms::CInterfaceFTDI::Purge(), mrpt::comms::CInterfaceFTDI::SetLatencyTimer(), and mrpt::comms::CInterfaceFTDI::SetTimeouts().

Referenced by queryFirmwareVersion().

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◆ Close()

void CInterfaceFTDI::Close ( )

inherited

Close the USB device.

Definition at line 287 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::containers::circular_buffer< T >::clear(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pClose, mrpt::comms::CInterfaceFTDI::m_readBuffer, MRPT_END, and MRPT_START.

Referenced by checkConnectionAndConnect(), mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), disableServo(), enableServo(), mrpt::comms::CInterfaceFTDI::ftdi_open(), mrpt::comms::CInterfaceFTDI::ftdi_openEx(), getRegisterValue(), queryFirmwareVersion(), setRegisterValue(), setRegisterValueAndSpeed(), and mrpt::comms::CInterfaceFTDI::~CInterfaceFTDI().

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◆ disableServo()

bool CServoeNeck::disableServo ( const uint8_t servo = 0 )

Disables the servo so the neck will be loose.

Parameters

Servo the id of the servo to move (in our ATMEGA16, from 0 to 2).

Returns: Whether or not the procedure succeded.

Definition at line 330 of file CServoeNeck.cpp.

References mrpt::serialization::archiveFrom(), mrpt::comms::CInterfaceFTDI::Close(), mrpt::serialization::CMessage::content, mrpt::comms::CInterfaceFTDI::isOpen(), and mrpt::serialization::CMessage::type.

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◆ enableServo()

bool CServoeNeck::enableServo ( const uint8_t servo = 0 )

Enables the servo so the neck will be tight.

Parameters

Servo the id of the servo to move (in our ATMEGA16, from 0 to 2).

Returns: Whether or not the procedure succeded.

Definition at line 361 of file CServoeNeck.cpp.

References mrpt::serialization::archiveFrom(), mrpt::comms::CInterfaceFTDI::Close(), mrpt::serialization::CMessage::content, mrpt::comms::CInterfaceFTDI::isOpen(), and mrpt::serialization::CMessage::type.

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◆ ftdi_read()

void CInterfaceFTDI::ftdi_read	(	void *	lpvBuffer,
		unsigned long	dwBuffSize,
		unsigned long *	lpdwBytesRead
	)

protectedinherited

Definition at line 303 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pRead, MRPT_END, and MRPT_START.

Referenced by mrpt::comms::CInterfaceFTDI::Read(), and mrpt::comms::CInterfaceFTDI::ReadBufferImmediate().

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◆ ftdi_write()

void CInterfaceFTDI::ftdi_write	(	const void *	lpvBuffer,
		unsigned long	dwBuffSize,
		unsigned long *	lpdwBytes
	)

protectedinherited

Definition at line 315 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pWrite, MRPT_END, and MRPT_START.

Referenced by mrpt::comms::CInterfaceFTDI::Write().

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◆ getCurrentAngle()

bool CServoeNeck::getCurrentAngle	(	double &	angle,
		const uint8_t	servo = `0`
	)

Gets the current angle of the servo (in radians within (-pi,pi))

Parameters

Angle	[OUT] The current angle.
Servo	[IN] The id of the servo (in our ATMEGA16, from 0 to 2).

Returns: Whether or not the procedure succeded.

Definition at line 239 of file CServoeNeck.cpp.

References getRegisterValue(), and regValue2angle().

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◆ getline()

bool CStream::getline ( std::string & out_str )

inherited

Reads from the stream until a '
' character is found ('' characters are ignored).

Returns: false on EOF or any other read error.

Definition at line 69 of file CStream.cpp.

◆ getNumberOfPreviousAngles()

unsigned int mrpt::hwdrivers::CServoeNeck::getNumberOfPreviousAngles ( )

inline

Gets the truncate factor of the turn.

Definition at line 111 of file CServoeNeck.h.

References m_NumPrevAngles.

◆ getPosition()

uint64_t CInterfaceFTDI::getPosition ( ) const

overridevirtualinherited

This virtual method does nothing in this class.

Implements mrpt::io::CStream.

Definition at line 67 of file CInterfaceFTDI_common.cpp.

◆ getRegisterValue()

bool CServoeNeck::getRegisterValue	(	uint16_t &	value,
		const uint8_t	servo = `0`
	)

protected

Definition at line 200 of file CServoeNeck.cpp.

References mrpt::serialization::archiveFrom(), mrpt::comms::CInterfaceFTDI::Close(), mrpt::serialization::CMessage::content, mrpt::comms::CInterfaceFTDI::isOpen(), and mrpt::serialization::CMessage::type.

Referenced by getCurrentAngle().

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◆ getTotalBytesCount()

uint64_t CInterfaceFTDI::getTotalBytesCount ( ) const

overridevirtualinherited

This virtual method does nothing in this class.

Implements mrpt::io::CStream.

Definition at line 66 of file CInterfaceFTDI_common.cpp.

◆ getTruncateFactor()

double mrpt::hwdrivers::CServoeNeck::getTruncateFactor ( )

inline

Gets the truncate factor of the turn.

Definition at line 93 of file CServoeNeck.h.

References m_TruncateFactor.

◆ isOpen()

bool CInterfaceFTDI::isOpen ( )

inherited

Checks whether the chip has been successfully open.

See also: OpenBySerialNumber, OpenByDescription

Definition at line 181 of file CInterfaceFTDI_WIN.cpp.

References mrpt::comms::CInterfaceFTDI::m_ftHandle.

Referenced by checkConnectionAndConnect(), disableServo(), enableServo(), mrpt::comms::CInterfaceFTDI::ftdi_open(), mrpt::comms::CInterfaceFTDI::ftdi_openEx(), getRegisterValue(), setRegisterValue(), and setRegisterValueAndSpeed().

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◆ ListAllDevices()

void CInterfaceFTDI::ListAllDevices ( TFTDIDeviceList & outList )

inherited

Generates a list with all FTDI devices connected right now.

Definition at line 244 of file CInterfaceFTDI_WIN.cpp.

References mrpt::comms::TFTDIDevice::ftdi_description, mrpt::comms::CInterfaceFTDI::ftdi_listDevices(), mrpt::comms::TFTDIDevice::ftdi_serial, MRPT_END, and MRPT_START.

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◆ OpenByDescription()

void CInterfaceFTDI::OpenByDescription ( const std::string & description )

inherited

Open by device description.

Definition at line 439 of file CInterfaceFTDI_WIN.cpp.

References mrpt::containers::circular_buffer< T >::clear(), FT_OPEN_BY_DESCRIPTION, mrpt::comms::CInterfaceFTDI::ftdi_openEx(), mrpt::comms::CInterfaceFTDI::m_readBuffer, MRPT_END, and MRPT_START.

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◆ OpenBySerialNumber()

void CInterfaceFTDI::OpenBySerialNumber ( const std::string & serialNumber )

inherited

Open by device serial number.

Definition at line 427 of file CInterfaceFTDI_WIN.cpp.

References mrpt::containers::circular_buffer< T >::clear(), FT_OPEN_BY_SERIAL_NUMBER, mrpt::comms::CInterfaceFTDI::ftdi_openEx(), mrpt::comms::CInterfaceFTDI::m_readBuffer, MRPT_END, and MRPT_START.

Referenced by checkConnectionAndConnect().

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◆ printf()

int CStream::printf	(	const char *	fmt,
			...
	)

virtualinherited

Writes a string to the stream in a textual form.

See also: CStdOutStream

Definition at line 30 of file CStream.cpp.

References MRPT_END, MRPT_START, and mrpt::system::os::vsnprintf().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::io::CStream::printf_vector(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ printf_vector()

template<typename CONTAINER_TYPE >

virtual int void mrpt::io::CStream::printf_vector	(	const char *	fmt,
		const CONTAINER_TYPE &	V,
		char	separator = `','`
	)

inlineinherited

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T.

Template Parameters

CONTAINER_TYPE can be any vector<T>, deque<T> or alike.

Definition at line 102 of file io/CStream.h.

References mrpt::io::CStream::printf().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

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◆ Purge()

void CInterfaceFTDI::Purge ( )

inherited

Purge the I/O buffers.

Definition at line 339 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::containers::circular_buffer< T >::clear(), FT_PURGE_RX, FT_PURGE_TX, mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pPurge, mrpt::comms::CInterfaceFTDI::m_readBuffer, MRPT_END, and MRPT_START.

Referenced by checkConnectionAndConnect().

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◆ queryFirmwareVersion()

bool CServoeNeck::queryFirmwareVersion ( std::string & out_firmwareVersion )

Gets the firmware version of the eNeck board.

Parameters

out_firmwareVersion [OUTPUT] A string containing the firmware version.

Returns: Whether or not the procedure succeded.

Definition at line 45 of file CServoeNeck.cpp.

References mrpt::serialization::archiveFrom(), checkConnectionAndConnect(), mrpt::comms::CInterfaceFTDI::Close(), mrpt::serialization::CMessage::getContentAsString(), and mrpt::serialization::CMessage::type.

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◆ Read()

size_t CInterfaceFTDI::Read	(	void *	Buffer,
		size_t	Count
	)

overridevirtualinherited

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::io::CStream.

Definition at line 18 of file CInterfaceFTDI_common.cpp.

References mrpt::containers::circular_buffer< T >::available(), mrpt::comms::CInterfaceFTDI::ftdi_read(), mrpt::comms::CInterfaceFTDI::m_readBuffer, mrpt::containers::circular_buffer< T >::pop_many(), mrpt::containers::circular_buffer< T >::push_many(), and mrpt::containers::circular_buffer< T >::size().

Referenced by mrpt::comms::CInterfaceFTDI::ReadSync().

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◆ ReadBufferImmediate()

size_t CInterfaceFTDI::ReadBufferImmediate	(	void *	Buffer,
		size_t	Count
	)

overridevirtualinherited

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().

Exceptions

std::exception On any error, or if ZERO bytes are read.

Reimplemented from mrpt::io::CStream.

Definition at line 68 of file CInterfaceFTDI_common.cpp.

References mrpt::comms::CInterfaceFTDI::ftdi_read().

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◆ ReadSync()

size_t mrpt::comms::CInterfaceFTDI::ReadSync	(	void *	Buffer,
		size_t	Count
	)

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 129 of file CInterfaceFTDI.h.

References mrpt::comms::CInterfaceFTDI::Read().

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◆ regValue2angle()

double CServoeNeck::regValue2angle ( const uint16_t value )

private

Converts from a certain value of the ATMEGA16 PWM register to the corresponding decimal angle (for inner use only).

Parameters

The	value to convert.

Returns: The corresponding angle.

Definition at line 98 of file CServoeNeck.cpp.

References M_PI.

Referenced by getCurrentAngle().

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◆ ResetDevice()

void CInterfaceFTDI::ResetDevice ( )

inherited

Reset the USB device.

Definition at line 327 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::containers::circular_buffer< T >::clear(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pResetDevice, mrpt::comms::CInterfaceFTDI::m_readBuffer, MRPT_END, and MRPT_START.

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◆ Seek() [1/2]

virtual uint64_t mrpt::io::CStream::Seek	(	int64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

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:

sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.
sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.
sFromEnd Offset is from the end of the resource. Offset must be <= 0 to indicate a number of bytes before the end of the file.
Returns
Seek returns the new value of the Position property.

Implemented in mrpt::io::CPipeBaseEndPoint, mrpt::io::CFileStream, mrpt::io::CFileGZInputStream, mrpt::io::CFileGZOutputStream, mrpt::io::CMemoryStream, mrpt::io::CFileOutputStream, and mrpt::io::CFileInputStream.

◆ Seek() [2/2]

uint64_t CInterfaceFTDI::Seek	(	int64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

overrideinherited

This virtual method does nothing in this class.

Definition at line 61 of file CInterfaceFTDI_common.cpp.

◆ setAngle()

bool CServoeNeck::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)

Parameters

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

Returns: Whether or not the procedure succeded.

Definition at line 254 of file CServoeNeck.cpp.

References angle2RegValue(), m_offsets, M_PI, m_TruncateFactor, mrpt::RAD2DEG(), and setRegisterValue().

Referenced by setAngleWithFilter().

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◆ setAngleAndSpeed()

bool 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)

Parameters

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

Returns: Whether or not the procedure succeded.

Definition at line 284 of file CServoeNeck.cpp.

References angle2RegValue(), m_offsets, M_PI, m_TruncateFactor, and setRegisterValueAndSpeed().

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◆ setAngleWithFilter()

bool CServoeNeck::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.

Parameters

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

Returns: Whether or not the procedure succeded.

Definition at line 307 of file CServoeNeck.cpp.

References m_NumPrevAngles, m_PrevAngles, and setAngle().

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◆ SetLatencyTimer()

void CInterfaceFTDI::SetLatencyTimer ( unsigned char latency_ms )

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.

Definition at line 373 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pSetLatencyTimer, MRPT_END, and MRPT_START.

Referenced by checkConnectionAndConnect().

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◆ setNumberOfPreviousAngles()

void mrpt::hwdrivers::CServoeNeck::setNumberOfPreviousAngles ( const unsigned int number )

inline

Gets the truncate factor of the turn.

Definition at line 104 of file CServoeNeck.h.

References m_NumPrevAngles.

◆ setOffsets()

void CServoeNeck::setOffsets	(	float	offset0,
		float	offset1,
		float	offset2
	)

Load the Offset values for each servo.

Definition at line 426 of file CServoeNeck.cpp.

References m_offsets.

◆ setRegisterValue()

bool CServoeNeck::setRegisterValue	(	const uint16_t	value,
		const uint8_t	servo = `0`,
		bool	fast = `false`
	)

protected

Definition at line 124 of file CServoeNeck.cpp.

References mrpt::serialization::archiveFrom(), mrpt::comms::CInterfaceFTDI::Close(), mrpt::serialization::CMessage::content, mrpt::comms::CInterfaceFTDI::isOpen(), and mrpt::serialization::CMessage::type.

Referenced by center(), and setAngle().

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◆ setRegisterValueAndSpeed()

bool CServoeNeck::setRegisterValueAndSpeed	(	const uint16_t	value,
		const uint8_t	servo,
		const uint16_t	speed
	)

protected

Definition at line 162 of file CServoeNeck.cpp.

References mrpt::serialization::archiveFrom(), mrpt::comms::CInterfaceFTDI::Close(), mrpt::serialization::CMessage::content, mrpt::comms::CInterfaceFTDI::isOpen(), and mrpt::serialization::CMessage::type.

Referenced by setAngleAndSpeed().

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◆ SetTimeouts()

void CInterfaceFTDI::SetTimeouts	(	unsigned long	dwReadTimeout_ms,
		unsigned long	dwWriteTimeout_ms
	)

inherited

Change read & write timeouts, in milliseconds.

Definition at line 351 of file CInterfaceFTDI_WIN.cpp.

References ASSERT_, mrpt::comms::CInterfaceFTDI::checkErrorAndRaise(), mrpt::comms::CInterfaceFTDI::m_ftHandle, mrpt::comms::CInterfaceFTDI::m_pSetTimeouts, MRPT_END, and MRPT_START.

Referenced by checkConnectionAndConnect().

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◆ setTruncateFactor()

void mrpt::hwdrivers::CServoeNeck::setTruncateFactor ( const double factor )

inline

Gets the truncate factor of the turn.

Definition at line 96 of file CServoeNeck.h.

References ASSERT_, and m_TruncateFactor.

◆ Write()

size_t CInterfaceFTDI::Write	(	const void *	Buffer,
		size_t	Count
	)

overridevirtualinherited

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::io::CStream.

Definition at line 54 of file CInterfaceFTDI_common.cpp.

References mrpt::comms::CInterfaceFTDI::ftdi_write().

Referenced by mrpt::comms::CInterfaceFTDI::WriteSync().

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◆ WriteSync()

size_t mrpt::comms::CInterfaceFTDI::WriteSync	(	const void *	Buffer,
		size_t	Count
	)

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.

References mrpt::comms::CInterfaceFTDI::Write().

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Member Data Documentation

◆ m_MaxValue

double mrpt::hwdrivers::CServoeNeck::m_MaxValue {10000}

protected

The value set in the ICR register within the ATMEGA16 controller.

Definition at line 120 of file CServoeNeck.h.

◆ m_NumPrevAngles

unsigned int mrpt::hwdrivers::CServoeNeck::m_NumPrevAngles {5}

protected

Number of previous angles to store for averaging.

Definition at line 128 of file CServoeNeck.h.

Referenced by getNumberOfPreviousAngles(), setAngleWithFilter(), and setNumberOfPreviousAngles().

◆ m_offsets

std::vector<float> mrpt::hwdrivers::CServoeNeck::m_offsets

protected

The offset used for each servo.

Definition at line 130 of file CServoeNeck.h.

Referenced by center(), CServoeNeck(), setAngle(), setAngleAndSpeed(), and setOffsets().

◆ m_PrevAngles

std::deque<double> mrpt::hwdrivers::CServoeNeck::m_PrevAngles

protected

A vector containing the last N angles which where passed to the servo (for averaging)

Definition at line 126 of file CServoeNeck.h.

Referenced by setAngleWithFilter().

◆ m_readBuffer

mrpt::containers::circular_buffer<uint8_t> mrpt::comms::CInterfaceFTDI::m_readBuffer

protectedinherited

Used in Read.

Definition at line 175 of file CInterfaceFTDI.h.

Referenced by mrpt::comms::CInterfaceFTDI::Close(), mrpt::comms::CInterfaceFTDI::OpenByDescription(), mrpt::comms::CInterfaceFTDI::OpenBySerialNumber(), mrpt::comms::CInterfaceFTDI::Purge(), mrpt::comms::CInterfaceFTDI::Read(), and mrpt::comms::CInterfaceFTDI::ResetDevice().

◆ m_TruncateFactor

double mrpt::hwdrivers::CServoeNeck::m_TruncateFactor {0.5}

protected

The range of turn of the servo will be truncated to "+-m_truncate_factor*(pi/2)".

Definition at line 123 of file CServoeNeck.h.

Referenced by getTruncateFactor(), setAngle(), setAngleAndSpeed(), and setTruncateFactor().

◆ m_usbSerialNumber

std::string mrpt::hwdrivers::CServoeNeck::m_usbSerialNumber

protected

A copy of the device serial number (to open the USB FTDI chip).

Definition at line 118 of file CServoeNeck.h.

Referenced by checkConnectionAndConnect().

Detailed Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Member Enumeration Documentation

◆ TSeekOrigin

Constructor & Destructor Documentation

◆ CServoeNeck()

◆ ~CServoeNeck()

Member Function Documentation

◆ angle2RegValue()

◆ center()

◆ checkConnectionAndConnect()

◆ Close()

◆ disableServo()

◆ enableServo()

◆ ftdi_read()

◆ ftdi_write()

◆ getCurrentAngle()

◆ getline()

◆ getNumberOfPreviousAngles()

◆ getPosition()

◆ getRegisterValue()

◆ getTotalBytesCount()

◆ getTruncateFactor()

◆ isOpen()

◆ ListAllDevices()

◆ OpenByDescription()

◆ OpenBySerialNumber()

◆ printf()

◆ printf_vector()

◆ Purge()

◆ queryFirmwareVersion()

◆ Read()

◆ ReadBufferImmediate()

◆ ReadSync()

◆ regValue2angle()

◆ ResetDevice()

◆ Seek() [1/2]

◆ Seek() [2/2]

◆ setAngle()

◆ setAngleAndSpeed()

◆ setAngleWithFilter()

◆ SetLatencyTimer()

◆ setNumberOfPreviousAngles()

◆ setOffsets()

◆ setRegisterValue()

◆ setRegisterValueAndSpeed()

◆ SetTimeouts()

◆ setTruncateFactor()

◆ Write()

◆ WriteSync()

Member Data Documentation

◆ m_MaxValue

◆ m_NumPrevAngles

◆ m_offsets

◆ m_PrevAngles

◆ m_readBuffer

◆ m_TruncateFactor

◆ m_usbSerialNumber