elektron.hpp

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/*
 * elektronv2.hpp
 *
 *  Created on: May 22, 2012
 *      Author: mwalecki
 */

#ifndef ELEKTRON_HPP_
#define ELEKTRON_HPP_

#include <stdint.h>
#include <termios.h>
#include <cstdlib>
#include <cstdio>
#include <unistd.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <string>
#include <fstream>
#include <inttypes.h>

#include "nfv2.h"

// baudrate
#define BAUD B115200
// port
#define PORT = "/dev/ttyUSB0"

// wheel diameter in SI units [m]
#define WHEEL_DIAM 0.1
// axle length in SI units [m]
#define AXLE_LENGTH 0.355

// regulator rate in SI units [Hz]
#define REGULATOR_RATE 100

// maximum velocity, in internal units
#define MAX_VEL 5500
// number of encoder ticks per single wheel rotation
#define ENC_TICKS 4000




class Elektron {
public:
        Elektron(const std::string& port, int baud = BAUD);
        ~Elektron();

        void update();

        void setVelocity(double lvel, double rvel);
        void getVelocity(double &lvel, double &rvel);

        void updateOdometry();
        void getRawOdometry(double &linc, double &rinc);
        void getOdometry(double &x, double &y, double &a);
        void setOdometry(double x, double y, double a);
        
        void setScale(double ls, double rs);

        bool isConnected();

        double m_per_tick;
        double robot_axle_length;
        double enc_ticks;

private:
        // #### serial port
        // ####
        int fd;
        struct termios oldtio;
        bool connected;
        
        // #### NFv2
        // ####
        void addToCommandArray(uint8_t command);
        void clearCommandArray(void);
    uint8_t txBuf[256];
    uint8_t txCnt;
    uint8_t rxBuf[256];
    uint8_t rxCnt;
    uint8_t commandArray[256];
    uint8_t commandCnt;
    uint8_t txAddr;
    
    // #### Elektron params
    // ####
        double lin_scale;
        double rot_scale;
};

#endif /* ELEKTRON_HPP_ */