ssc32.hpp

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//Include system headers
#include <fcntl.h>
#include <termios.h>
#include <cstring>
#include <iostream>
#include <math.h>
#include <sstream>
#include <cstdio>

// Define COM port
//#define COM_PORT            "/dev/ttyUSB0"

// Define Baud Rate
#define BAUDRATE            B115200

//#define BAUDRATE            B4800

// Define Port Timeout
#define TIMEOUT_SEC         10

namespace Servo
{
        /***************
        *   SSC-32 servo controller library
        *   
        *****************/
        class SSC32
        {
            private:  
                int fd; // file description for the serial port
            struct termios port_settings;
            struct timeval timeout;
            std::string command;
            std::string Port, Position, Speed;
            const char *Output;
            int nrOfPorts;
            double servoLimits[32][6];
            public:
                SSC32();
                ~SSC32();
                void initSerial();
                bool startSerial(std::string);
                void stopSerial();
            bool SendMessage(int Port, int position, int speed);
            bool CheckIfFinished();
        };
};//namespace