ssc32.hpp
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00001 
00002 //Include system headers
00003 #include <fcntl.h>
00004 #include <termios.h>
00005 #include <cstring>
00006 #include <iostream>
00007 #include <math.h>
00008 #include <sstream>
00009 #include <cstdio>
00010 
00011 // Define COM port
00012 //#define COM_PORT            "/dev/ttyUSB0"
00013 
00014 // Define Baud Rate
00015 #define BAUDRATE            B115200
00016 
00017 //#define BAUDRATE            B4800
00018 
00019 // Define Port Timeout
00020 #define TIMEOUT_SEC         10
00021 
00022 namespace Servo
00023 {
00024         /***************
00025         *   SSC-32 servo controller library
00026         *   
00027         *****************/
00028         class SSC32
00029         {
00030             private:  
00031                 int fd; // file description for the serial port
00032             struct termios port_settings;
00033             struct timeval timeout;
00034             std::string command;
00035             std::string Port, Position, Speed;
00036             const char *Output;
00037             int nrOfPorts;
00038             double servoLimits[32][6];
00039             public:
00040                 SSC32();
00041                 ~SSC32();
00042                 void initSerial();
00043                 bool startSerial(std::string);
00044                 void stopSerial();
00045             bool SendMessage(int Port, int position, int speed);
00046             bool CheckIfFinished();
00047         };
00048 };//namespace    


corobot_ssc32
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autogenerated on Sun Oct 5 2014 23:17:52