Class CPtuBase

Defined in File CPtuBase.h

Class Documentation

class CPtuBase

This class implements initialization and communication methods to control a generic Pan and Tilt Unit, working in radians.

Public Functions

virtual ~CPtuBase() = default: Destructor

virtual bool rangeMeasure() = 0: Search limit forward

virtual bool moveToAbsPos(char axis, double nRad) = 0: Specification of positions in absolute terms

virtual bool absPosQ(char axis, double &nRad) = 0: Query position in absolute terms

virtual bool moveToOffPos(char axis, double nRad) = 0

Specify desired axis position as an offset from the current position.

This method recives the number of radians to move.

Example of use:
  TT-500 *
  A *
  TO * Current Tilt position is -500
  TO500 *
  A *
  TT * Current Pan position is 1000

virtual bool offPosQ(char axis, double &nRad) = 0: Query position in relative terms

virtual bool maxPosQ(char axis, double &nRad) = 0: Query max movement limit of a axis in absolute terms

virtual bool minPosQ(char axis, double &nRad) = 0: Query min movement limit of a axis in absolute terms

virtual bool enableLimitsQ(bool &enable) = 0: Query if exist movement limits

virtual bool enableLimits(bool set) = 0: Enable/Disable movement limits

virtual bool inmediateExecution(bool set) = 0

With I mode (default) instructs pan-tilt unit to immediately execute positional commands.

In S mode instructs pan-tilt unit to execute positional commands only when an Await Position Command Completion command is executed or when put into Immediate Execution Mode.

Example of use of S mode:
  DR *
  S *
  PP1500 *
  TP-900 *
  PP * Current Pan position is 0
  TP * Current Tilt position is 0
  A *
  PP * Current Pan position is 1500
  TP * Current Tilt position is -900

virtual bool aWait() = 0: Wait the finish of the last position command to continue accept commands

virtual bool haltAll() = 0: Inmediately stop all

virtual bool halt(char axis) = 0: Inmediately stop

virtual bool speed(char axis, double RadSec) = 0: Specification of turn speed

virtual bool speedQ(char axis, double &RadSec) = 0: Query turn speed

virtual bool aceleration(char axis, double RadSec2) = 0: Specification (de/a)celeration in turn

virtual bool acelerationQ(char axis, double &RadSec2) = 0: Query (de/a)celeration in turn

virtual bool baseSpeed(char axis, double RadSec) = 0: Specification of velocity to which start and finish the (de/a)celeration

virtual bool baseSpeedQ(char axis, double &RadSec) = 0: Query velocity to which start and finish the (de/a)celeration

virtual bool upperSpeed(char axis, double RadSec) = 0: Specification of velocity upper limit

virtual bool upperSpeedQ(char axis, double &RadSec) = 0: Query velocity upper limit

virtual bool lowerSpeed(char axis, double RadSec) = 0: Specification of velocity lower limit

virtual bool lowerSpeedQ(char axis, double &RadSec) = 0: Query velocity lower limit

virtual bool reset() = 0: Reset PTU to initial state

virtual bool save() = 0: Save or restart default values

virtual bool restoreDefaults() = 0: Restore default values

virtual bool restoreFactoryDefaults() = 0: Restore factory default values

virtual bool version(char *nVersion) = 0: Version and CopyRights

virtual void nversion(double &nVersion) = 0: Number of version

virtual bool powerModeQ(bool transit, char &mode) = 0: Query power mode

virtual bool powerMode(bool transit, char mode) = 0: Specification of power mode

virtual double status(double &rad) = 0: Check if ptu is moving

virtual bool setLimits(char axis, double &l, double &u) = 0: Set limits of movement

virtual bool changeMotionDir() = 0

virtual int checkErrors() = 0: Check errors, returns 0 if there are not errors or error code otherwise

virtual void clearErrors() = 0: Clear errors

virtual bool init(const std::string &port) = 0: PTU and serial port initialization

virtual void close() = 0: Close Connection with serial port

virtual double radError(char axis, double nRadMoved) = 0: To obtains the mistake for use discrete values when the movement is expressed in radians. Parameters are the absolute position in radians and the axis desired

virtual long radToPos(char axis, double nRad) = 0: To obtain the discrete value for a number of radians

virtual double posToRad(char axis, long nPos) = 0: To obtain the number of radians for a discrete value

virtual bool scan(char axis, int wait, float initial, float final, double RadPre) = 0

Performs a scan in the axis indicated and whit the precision desired.

Parameters:

<axis> – {Pan or Till}
<tWait> – {Wait time betwen commands}
<initial> – {initial position}
<final> – {final position}
<RadPre> – {radians precision for the scan}

virtual bool verboseQ(bool &modo) = 0: Query verbose mode

virtual bool verbose(bool set) = 0

Set verbose.

\conde Example of response with FV (verbose) active: FV * PP * Current pan position is 0 Example of response with FT (terse) active: FT * PP * 0

virtual bool echoModeQ(bool &mode) = 0: Query echo mode

virtual bool echoMode(bool mode) = 0

Enable/Disable echo response with command.

Example of use (EE supposed):
  PP * 22
  ED *
  <pp entered again, but not echoed>* 22

virtual bool resolution() = 0: Query the pan and tilt resolution per position moved and initialize local atributes

Public Members

double tiltResolution

double panResolution

Protected Attributes

mrpt::comms::CSerialPort serPort