serial_glove.hpp File Reference

Communicate via the serial port with the Cyberglove. More...

#include <cereal_port/CerealPort.h>
#include <boost/smart_ptr.hpp>
#include <boost/function.hpp>

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Classes
struct	cyberglove_freq::CybergloveFreq
class	cyberglove::CybergloveSerial
Namespaces
namespace	cyberglove
namespace	cyberglove_freq

---

Detailed Description

Communicate via the serial port with the Cyberglove.

Author:

Ugo Cupcic <ugo@shadowrobot.com>

Date:

Thu May 5 15:30:17 2011

Copyright 2011 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

List of available commands, gathered from an old specification: (http://www.cyberglovesystems.com/forum/viewtopic.php?f=14&t=247)

• 'F0' -> stops filter
• 'F1' -> starts filter
• '?F' -> current filter status

• 'G' -> reads data from the cyberglove once
• 'S' -> streams data from the cyberglove at given period
• 't 1152 1' -> specifies period of 100Hz
• '?t' -> get period
• '^C' -> stop streaming ??

• 'L0' -> turns light off
• 'L1' -> turns light on
• '?L' -> light status

• 'u1' -> transmits the status each time: o Bit 0: cyberglove plugged in o Bit 1: switch on/off o Bit 2: light on/off
• 'u0' -> stop transmitting the status

• 'd1' -> transmits the timestamp as well

• '?r' -> right handed or not
• '?n' -> number of sensors
• '?i' -> info about the cyberglove
• '^I' or '^R' -> reinitialize / restart the cyberglove firmware (wait 1-2s)

Proposed strategy:

• F,1 : set filtering to 0 (faster, we're going to do oversampling anyway)
• U,1 : transmit the status each time
• T,1152,1: set transmit period to 100Hz
• S : streams data o If data[2] = 0 (light off), ignore o Else (light on): read the data (start from 5: 2 first letters are 'G' and ' ', then we have the status bits)

Author:

Ugo Cupcic <ugo@shadowrobot.com>

Date:

Thu May 5 15:30:17 2011

Copyright 2011 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file serial_glove.hpp.