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ArDPPTU Class Reference

Driver for the DPPTU. More...

#include <ArDPPTU.h>

Inheritance diagram for ArDPPTU::

ArPTZ List of all members.

Public Types

enum  { ,
  MIN_PAN = -158, MAX_TILT = 30, MIN_TILT = -46, MAX_PAN_SLEW = 149,
  MIN_PAN_SLEW = 2, MAX_TILT_SLEW = 149, MIN_TILT_SLEW = 2, MAX_PAN_ACCEL = 102,
  MIN_PAN_ACCEL = 2, MAX_TILT_ACCEL = 102, MIN_TILT_ACCEL = 2
}

Public Methods

 ArDPPTU (ArRobot *robot)
 Constructor.

virtual ~ArDPPTU (void)
 Destructor.

bool init (void)
 Initializes the camera.

bool canZoom (void)
 Returns true if camera can zoom (or rather, if it is controlled by this).

bool blank (void)
 Sends a delimiter only.

bool resetCalib (void)
 Perform reset calibration.

bool disableReset (void)
 Disable power-on reset.

bool resetTilt (void)
 Reset tilt axis.

bool resetPan (void)
 Reset pan axis only.

bool resetAll (void)
 Reset pan and tilt axes on power-on.

bool saveSet (void)
 Save current settings as defaults.

bool restoreSet (void)
 Restore stored defaults.

bool factorySet (void)
 Restore factory defaults.

bool panTilt (int pdeg, int tdeg)
 Pans and tilts to the given degrees.

bool pan (int deg)
 Pans to the given degrees.

bool panRel (int deg)
 Pans relative to current position by given degrees.

bool tilt (int deg)
 Tilts to the given degrees.

bool tiltRel (int deg)
 Tilts relative to the current position by given degrees.

bool panTiltRel (int pdeg, int tdeg)
 Pans and tilts relatives to the current position by the given degrees.

bool limitEnforce (bool val)
 Enables or disables the position limit enforcement.

bool immedExec (void)
 Sets unit to immediate-execution mode for positional commands.

bool slaveExec (void)
 Sets unit to slaved-execution mode for positional commands.

bool awaitExec (void)
 Instructs unit to await completion of the last issued command.

bool haltAll (void)
 Halts all pan-tilt movement.

bool haltPan (void)
 Halts pan axis movement.

bool haltTilt (void)
 Halts tilt axis movement.

int getMaxPosPan (void)
 Gets the highest positive degree the camera can pan to.

int getMaxNegPan (void)
 Gets the lowest negative degree the camera can pan to.

int getMaxPosTilt (void)
 Gets the highest positive degree the camera can tilt to.

int getMaxNegTilt (void)
 Gets the lowest negative degree the camera can tilt to.

bool initMon (int deg1, int deg2, int deg3, int deg4)
 Sets monitor mode - pan pos1/pos2, tilt pos1/pos2.

bool enMon (void)
 Enables monitor mode at power up.

bool disMon (void)
 Disables monitor mode at power up.

bool offStatPower (void)
 Sets stationary power mode to off.

bool regStatPower (void)
 Sets regular stationary power mode.

bool lowStatPower (void)
 Sets low stationary power mode.

bool highMotPower (void)
 Sets high in-motion power mode.

bool regMotPower (void)
 Sets regular in-motion power mode.

bool lowMotPower (void)
 Sets low in-motion power mode.

bool panAccel (int deg)
 Sets acceleration for pan axis.

bool tiltAccel (int deg)
 Sets acceleration for tilt axis.

bool basePanSlew (int deg)
 Sets the start-up pan slew.

bool baseTiltSlew (int deg)
 Sets the start-up tilt slew.

bool upperPanSlew (int deg)
 Sets the upper pan slew.

bool lowerPanSlew (int deg)
 Sets the lower pan slew.

bool upperTiltSlew (int deg)
 Sets the upper tilt slew.

bool lowerTiltSlew (int deg)
 Sets the lower pan slew.

bool indepMove (void)
 Sets motion to indenpendent control mode.

bool velMove (void)
 Sets motion to pure velocity control mode.

bool panSlew (int deg)
 Sets the rate that the unit pans at.

bool tiltSlew (int deg)
 Sets the rate the unit tilts at.

bool panSlewRel (int deg)
 Sets the rate that the unit pans at, relative to current slew.

bool tiltSlewRel (int deg)
 Sets the rate the unit tilts at, relative to current slew.

int getPan (void)
 The angle the camera was last told to pan to.

int getTilt (void)
 The angle the camera was last told to tilt to.

int getPanSlew (void)
 Gets the current pan slew.

int getTiltSlew (void)
 Gets the current tilt slew.

int getBasePanSlew (void)
 Gets the base pan slew.

int getBaseTiltSlew (void)
 Gets the base tilt slew.

int getPanAccel (void)
 Gets the current pan acceleration rate.

int getTiltAccel (void)
 Gets the current tilt acceleration rate.


Detailed Description

Driver for the DPPTU.


Member Enumeration Documentation

anonymous enum
 

Enumeration values:
MIN_PAN  Maximum pan range of 3090 positions.
MAX_TILT  Minimum pan range of -3090 positions.
MIN_TILT  Maximum tilt range of 600 positions.
MAX_PAN_SLEW  Minimum tilt range of -900 positions.
MIN_PAN_SLEW  Maximum pan slew of 2902 positions/sec.
MAX_TILT_SLEW  Minimum tilt slew of 31 positions/sec.
MIN_TILT_SLEW  Maximum tilt slew of 2902 positions/sec.
MAX_PAN_ACCEL  Minimum tilt slew of 31 positions/sec.
MIN_PAN_ACCEL  Maximum pan acceleration of 2000 positions/sec^2.
MAX_TILT_ACCEL  Minimum pan acceleration of 0 positions/sec^2.
MIN_TILT_ACCEL  Maximum tilt acceleration of 2000 positions/sec^2.


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