ptu::Driver Class Reference

#include <Driver.h>

Inheritance diagram for ptu::Driver:

Public Member Functions
	Driver ()
	~Driver ()
float	getMinPanRad ()
float	getMaxPanRad ()
float	getMinTiltRad ()
float	getMaxTiltRad ()
void	initialize ()
void	write (const std::string &msg)
std::string	readAns ()
template<typename T >
T	getQuery (const std::string &answer)
int	getPos (Axis axis, bool offset)
float	getPosDeg (Axis axis, bool offset)
float	getPosRad (Axis axis, bool offset)
bool	setPosDeg (const Axis &axis, const bool &offset, const float &val, const bool &awaitCompletion=false)
bool	setPosRad (const Axis &axis, const bool &offset, const float &val, const bool &awaitCompletion=false)
bool	setPos (const Axis &axis, const bool &offset=false, const int &val=0, const bool &awaitCompletion=false)
void	setSpeed (Axis axis, int speed)
void	setSpeedDeg (Axis axis, float speed)
void	setSpeedRad (Axis axis, float speed)
void	setHalt ()

Protected Member Functions
int	extractPacket (const uint8_t *buffer, size_t size) const

Constructor & Destructor Documentation

Driver::Driver

(

)

Driver::~Driver

(

)

Member Function Documentation

int Driver::extractPacket ( const uint8_t *  buffer, size_t  size  ) const

protected

Find a packet into the currently accumulated data.

float ptu::Driver::getMaxPanRad ( )

inline

The maximum pan postion in rad.

float ptu::Driver::getMaxTiltRad ( )

inline

The maximum tilt postion in rad.

float ptu::Driver::getMinPanRad ( )

inline

The minimum pan postion in rad.

float ptu::Driver::getMinTiltRad ( )

inline

The minimum tilt postion in rad.

int Driver::getPos	(	Axis	axis,
		bool	offset
	)

Get current pan-tilt position.

Parameters

axis	the axis to be used
offset	if true, the relative value is used

Returns

position

float Driver::getPosDeg	(	Axis	axis,
		bool	offset
	)

Get the position as degree value instead of ticks as given by getPos.

Parameters

axis	Select the axis to be read out. (PAN or TILT)
offset	if true the offset command will be used.

Returns

the position of selected axis as degree value. (0 is front center).

float Driver::getPosRad	(	Axis	axis,
		bool	offset
	)

Get the position in radian.

See also

getPos

template<typename T >

T ptu::Driver::getQuery ( const std::string &  answer )

inline

Converts an answer to a value of type T. The answer string is like '* <result><CR>'.

void Driver::initialize

(

)

Initial communication with the device to set proper modes and query limits.

std::string Driver::readAns

(

)

Read the answer of a query.

Parameters

timeout

timeout in ms

Returns

answer string

void Driver::setHalt

(

)

Stops motion.

bool Driver::setPos	(	const Axis &	axis,
		const bool &	offset = false,
		const int &	val = 0,
		const bool &	awaitCompletion = false
	)

Set current pan-tilt position.

Parameters

val	the value to which to set the position
axis	the axis to be used
offset	if true, the relative value is used
awaitCompletion	force the command to be completed before next command will be processed.

Returns

true if successful

bool Driver::setPosDeg	(	const Axis &	axis,
		const bool &	offset,
		const float &	val,
		const bool &	awaitCompletion = false
	)

Set the Position for selected axis to given value in degree.

Parameters

axis	Specify the axis which should be set (PAN, TILT).
offset	Select if the position should be set as an offset from current position or if false it will be set as absolute value (while 0 is front center).
awaitCompletion	Set if movement should be completed before processing next command.

Returns

Returns bool value. true if success, false otherwise.

bool Driver::setPosRad	(	const Axis &	axis,
		const bool &	offset,
		const float &	val,
		const bool &	awaitCompletion = false
	)

Set the position in radian.

See also

setPos

void Driver::setSpeed	(	Axis	axis,
		int	speed
	)

Set desired speed for an axis in positions/second.

void Driver::setSpeedDeg	(	Axis	axis,
		float	speed
	)

Set desired speed for an axis in degree/second.

void Driver::setSpeedRad	(	Axis	axis,
		float	speed
	)

Set desired speed for an axis in radian/second.

void Driver::write

(

const std::string &

msg

)

Sends a message to the device.

Parameters

msg	the message to be sent
timeout	timeout in ms

Exceptions

iodrivers_base

write errors

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

• /build/rock-master-18.09-drivers-ptu-directedperception-0.20171014/src/Driver.h
• /build/rock-master-18.09-drivers-ptu-directedperception-0.20171014/src/Driver.cpp