flir_ptu_driver::PTU Class Reference

#include <driver.h>

Public Member Functions
bool	disableLimits ()
float	getMax (char type)
float	getMaxSpeed (char type)
float	getMin (char type)
float	getMinSpeed (char type)
char	getMode ()
float	getPosition (char type)
float	getResolution (char type)
float	getSpeed (char type)
bool	home ()
bool	initialize ()
bool	initialized ()
	PTU (serial::Serial *ser)
bool	setMode (char type)
bool	setPosition (char type, float pos, bool Block=false)
bool	setSpeed (char type, float speed)

Protected Member Functions
std::string	sendCommand (std::string command)

Protected Attributes
bool	initialized_
float	pr
	pan resolution (rads/count) More...
serial::Serial *	ser_
float	tr
	tilt resolution (rads/count) More...

Private Member Functions
int	getLimit (char type, char limType)
float	getRes (char type)

Private Attributes
bool	Lim
	Position Limits enabled. More...
int	PMax
	Max Pan in Counts. More...
int	PMin
	Min Pan in Counts. More...
int	PSMax
	Max Pan Speed in Counts/second. More...
int	PSMin
	Min Pan Speed in Counts/second. More...
int	TMax
	Max Tilt in Counts. More...
int	TMin
	Min Tilt in Counts. More...
int	TSMax
	Max Tilt Speed in Counts/second. More...
int	TSMin
	Min Tilt Speed in Counts/second. More...

Detailed Description

Definition at line 61 of file driver.h.

Constructor & Destructor Documentation

flir_ptu_driver::PTU::PTU ( serial::Serial *  ser )

inlineexplicit

Constructor - opens port

Parameters

ser	serial::Serial instance ready to communciate with device.

Definition at line 67 of file driver.h.

Member Function Documentation

bool flir_ptu_driver::PTU::disableLimits

(

)

Returns

true if PTU software motion limits are disabled.

Definition at line 70 of file driver.cpp.

int flir_ptu_driver::PTU::getLimit ( char  type, char  limType  )

private

get limiting position/speed in counts or counts/second

Parameters

type	'p' or 't' (pan or tilt)
limType	{'n', 'x', 'l', 'u'} (min position, max position, min speed, max speed)

Returns

limiting position/speed

Definition at line 166 of file driver.cpp.

float flir_ptu_driver::PTU::getMax ( char  type )

inline

Parameters

type	'p' or 't'

Returns

Maximum position in radians

Definition at line 114 of file driver.h.

float flir_ptu_driver::PTU::getMaxSpeed ( char  type )

inline

Parameters

type	'p' or 't'

Returns

Maximum speed in radians/second

Definition at line 131 of file driver.h.

float flir_ptu_driver::PTU::getMin ( char  type )

inline

Parameters

type	'p' or 't'

Returns

Minimum position in radians

Definition at line 106 of file driver.h.

float flir_ptu_driver::PTU::getMinSpeed ( char  type )

inline

Parameters

type	'p' or 't'

Returns

Minimum speed in radians/second

Definition at line 123 of file driver.h.

char flir_ptu_driver::PTU::getMode

(

)

get the control mode, position or velocity

Returns

'v' for velocity, 'i' for position

Definition at line 302 of file driver.cpp.

float flir_ptu_driver::PTU::getPosition

(

char

type

)

Parameters

type	'p' or 't'

Returns

position in radians

Definition at line 183 of file driver.cpp.

float flir_ptu_driver::PTU::getRes ( char  type )

private

get radian/count resolution

Parameters

type	'p' or 't'

Returns

pan resolution if type=='p', tilt resolution if type=='t'

Definition at line 148 of file driver.cpp.

float flir_ptu_driver::PTU::getResolution ( char  type )

inline

Parameters

type	'p' or 't'

Returns

resolution in radians/count

Definition at line 97 of file driver.h.

float flir_ptu_driver::PTU::getSpeed

(

char

type

)

Parameters

type	'p' or 't'

Returns

speed in radians/second

Definition at line 239 of file driver.cpp.

bool flir_ptu_driver::PTU::home

(

)

Definition at line 120 of file driver.cpp.

bool flir_ptu_driver::PTU::initialize

(

)

Returns

true if initialization succeeds.

Definition at line 78 of file driver.cpp.

bool flir_ptu_driver::PTU::initialized

(

)

Returns

true if the serial port is open and PTU initialized.

Definition at line 65 of file driver.cpp.

std::string flir_ptu_driver::PTU::sendCommand ( std::string  command )

protected

Sends a string to the PTU

Parameters

command

string to be sent

Returns

response string from unit.

Definition at line 111 of file driver.cpp.

bool flir_ptu_driver::PTU::setMode

(

char

type

)

set the control mode, position or velocity

Parameters

type	'v' for velocity, 'i' for position

Returns

True if successfully sent command

Definition at line 286 of file driver.cpp.

bool flir_ptu_driver::PTU::setPosition	(	char	type,
		float	pos,
		bool	Block = false
	)

Moves the PTU to the desired position. If Block is true, the call blocks until the desired position is reached

Parameters

type	'p' or 't'
pos	desired position in radians
Block	block until ready

Returns

True if successfully sent command

Definition at line 200 of file driver.cpp.

bool flir_ptu_driver::PTU::setSpeed	(	char	type,
		float	speed
	)

sets the desired speed in radians/second

Parameters

type	'p' or 't'
speed	desired speed in radians/second

Returns

True if successfully sent command

Definition at line 257 of file driver.cpp.

Member Data Documentation

bool flir_ptu_driver::PTU::initialized_

protected

Definition at line 206 of file driver.h.

bool flir_ptu_driver::PTU::Lim

private

Position Limits enabled.

Definition at line 189 of file driver.h.

int flir_ptu_driver::PTU::PMax

private

Max Pan in Counts.

Definition at line 188 of file driver.h.

int flir_ptu_driver::PTU::PMin

private

Min Pan in Counts.

Definition at line 187 of file driver.h.

float flir_ptu_driver::PTU::pr

protected

pan resolution (rads/count)

Definition at line 209 of file driver.h.

int flir_ptu_driver::PTU::PSMax

private

Max Pan Speed in Counts/second.

Definition at line 195 of file driver.h.

int flir_ptu_driver::PTU::PSMin

private

Min Pan Speed in Counts/second.

Definition at line 194 of file driver.h.

serial::Serial* flir_ptu_driver::PTU::ser_

protected

Definition at line 205 of file driver.h.

int flir_ptu_driver::PTU::TMax

private

Max Tilt in Counts.

Definition at line 186 of file driver.h.

int flir_ptu_driver::PTU::TMin

private

Min Tilt in Counts.

Definition at line 185 of file driver.h.

float flir_ptu_driver::PTU::tr

protected

tilt resolution (rads/count)

Definition at line 208 of file driver.h.

int flir_ptu_driver::PTU::TSMax

private

Max Tilt Speed in Counts/second.

Definition at line 193 of file driver.h.

int flir_ptu_driver::PTU::TSMin

private

Min Tilt Speed in Counts/second.

Definition at line 192 of file driver.h.

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The documentation for this class was generated from the following files:

• driver.h
• driver.cpp