Go to the documentation of this file.
45 bool absPosQ(
char axis,
double& nRad)
override;
64 bool offPosQ(
char axis,
double& nRad)
override;
68 bool maxPosQ(
char axis,
double& nRad)
override;
72 bool minPosQ(
char axis,
double& nRad)
override;
107 bool aWait()
override;
115 bool halt(
char axis)
override;
119 bool speed(
char axis,
double radSec)
override;
123 bool speedQ(
char axis,
double& radSec)
override;
127 bool aceleration(
char axis,
double radSec2)
override;
137 bool baseSpeed(
char axis,
double radSec)
override;
143 bool baseSpeedQ(
char axis,
double& radSec)
override;
147 bool upperSpeed(
char axis,
double radSec)
override;
151 bool upperSpeedQ(
char axis,
double& radSec)
override;
155 bool lowerSpeed(
char axis,
double radSec)
override;
159 bool lowerSpeedQ(
char axis,
double& radSec)
override;
163 bool reset()
override;
167 bool save()
override;
179 bool version(
char* nVersion)
override;
183 void nversion(
double& nVersion)
override;
187 bool powerModeQ(
bool transit,
char& mode)
override;
191 bool powerMode(
bool transit,
char mode)
override;
199 bool setLimits(
char axis,
double& l,
double& u)
override;
217 bool init(
const std::string& port)
override;
221 void close()
override;
228 double radError(
char axis,
double nRadMoved)
override;
232 long radToPos(
char axis,
double nRad)
override;
236 double posToRad(
char axis,
long nPos)
override;
246 bool scan(
char axis,
int wait,
float initial,
float final,
double radPre)
264 bool verbose(
bool set)
override;
289 double status(
double& rad)
override;
296 bool transmit(
const char* command)
override;
300 bool receive(
const char* command,
char* response)
override;
304 bool radQuerry(
char axis,
char command,
double& nRad)
override;
308 bool radAsign(
char axis,
char command,
double nRad)
override;
bool speedQ(char axis, double &radSec) override
Query turn speed.
bool upperSpeed(char axis, double radSec) override
Specification of velocity upper limit.
bool moveToOffPos(char axis, double nRad) override
Specify desired axis position as an offset from the current position.
void clearErrors() override
Clear errors.
long radToPos(char axis, double nRad) override
To obtain the discrete value for a number of radians.
static double convertToDouble(char *sDouble)
Convert string to double.
bool reset() override
Reset PTU to initial state.
bool aceleration(char axis, double radSec2) override
Specification (de/a)celeration in turn.
bool upperSpeedQ(char axis, double &radSec) override
Query velocity upper limit.
double status(double &rad) override
Check if ptu is moving.
bool speed(char axis, double radSec) override
Specification of turn speed.
Contains classes for various device interfaces.
bool powerMode(bool transit, char mode) override
Specification of power mode.
bool enableLimits(bool set) override
Enable/Disable movement limits.
bool lowerSpeed(char axis, double radSec) override
Specification of velocity lower limit.
bool enableLimitsQ(bool &enable) override
Query if exist movement limits.
bool baseSpeed(char axis, double radSec) override
Specification of velocity to which start and finish the (de/a)celeration.
bool receive(const char *command, char *response) override
To receive the responseof the PTU.
int checkErrors() override
Check errors, returns 0 if there are not errors or error code otherwise.
bool restoreDefaults() override
Restore default values.
bool radQuerry(char axis, char command, double &nRad) override
Used to obtains a number of radians.
void close() override
Close Connection with serial port.
bool absPosQ(char axis, double &nRad) override
Query position in absolute terms.
bool moveToAbsPos(char axis, double nRad) override
Specification of positions in absolute terms.
bool offPosQ(char axis, double &nRad) override
Query position in relative terms.
bool verbose(bool set) override
Set verbose.
bool setLimits(char axis, double &l, double &u) override
Set limits of movement.
bool baseSpeedQ(char axis, double &radSec) override
Query velocity to which start and finish the (de/a)celeration.
bool verboseQ(bool &modo) override
Query verbose mode.
This class implements initialization and communication methods to control a generic Pan and Tilt Unit...
bool inmediateExecution(bool set) override
With I mode (default) instructs pan-tilt unit to immediately execute positional commands.
bool maxPosQ(char axis, double &nRad) override
Query max movement limit of a axis in absolute terms.
bool save() override
Save or restart default values.
void nversion(double &nVersion) override
Number of version.
Versatile class for consistent logging and management of output messages.
static long convertToLong(char *sLong)
Convert string to long.
bool haltAll() override
Inmediately stop all.
~CTuMicos() override
Destructor.
bool rangeMeasure() override
Search limit forward.
bool version(char *nVersion) override
Version and CopyRights.
bool scan(char axis, int wait, float initial, float final, double radPre) override
Performs a scan in the axis indicated and whit the precision desired.
This class implements initialization and communication methods to control a Tilt Unit model DT-80,...
bool transmit(const char *command) override
To transmition commands to the PTU.
bool lowerSpeedQ(char axis, double &radSec) override
Query velocity lower limit.
bool clear()
Clear controller internal stack.
bool powerModeQ(bool transit, char &mode) override
Query power mode.
double radError(char axis, double nRadMoved) override
To obtains the mistake for use discrete values when the movement is expressed in radians.
bool echoModeQ(bool &mode) override
Query echo mode.
bool acelerationQ(char axis, double &radSec2) override
Query (de/a)celeration in turn.
bool radAsign(char axis, char command, double nRad) override
Method used for asign a number of radians with a command.
bool changeMotionDir() override
bool resolution() override
Query the pan and tilt resolution per position moved and initialize local atributes.
bool halt(char axis) override
Inmediately stop.
bool init(const std::string &port) override
PTU and serial port initialization.
bool minPosQ(char axis, double &nRad) override
Query min movement limit of a axis in absolute terms.
bool restoreFactoryDefaults() override
Restore factory default values.
CTuMicos()=default
Default constructor.
bool aWait() override
Wait the finish of the last position command to continue accept commands.
double posToRad(char axis, long nPos) override
To obtain the number of radians for a discrete value.
bool echoMode(bool mode) override
Enable/Disable echo response with command.
Page generated by Doxygen 1.8.17 for MRPT 2.0.4 at Fri Jul 17 08:43:33 UTC 2020 | |