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ArVCC4 Class Reference

Driver for the VCC4. More...

#include <ArVCC4.h>

Inheritance diagram for ArVCC4::

ArPTZ List of all members.

Public Methods

 ArVCC4 (ArRobot *robot, bool myInverted=false)
bool power (int status)
 Turn on/off the camera.

bool init (void)
 Initializes the camera.

void connectHandler (void)
 Internal, attached to robot, inits the camera when robot connects.

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.

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

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

bool zoom (int deg)
 Zooms to the given value.

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

bool haltZoom (void)
 Halts zoom movement.

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

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

void preparePacket (ArVCC4Packet *packet)
 Sends this packet to the unit.

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 getZoom (void)
 The value the camera was last told to zoom to.

int getPanSlew (void)
 Gets the current pan slew.

int getMaxPanSlew (void)
 Gets the maximum pan slew.

int getMinPanSlew (void)
 Gets the minimum pan slew.

int getTiltSlew (void)
 Gets the current tilt slew.

int getMaxTiltSlew (void)
 Gets the maximum tilt slew.

int getMinTiltSlew (void)
 Gets the minimum tilt slew.

int getMaxZoom (void)
 Gets the maximum value for the zoom on this camera.

int getMinZoom (void)
 Gets the lowest value for the zoom on this camera.


Detailed Description

Driver for the VCC4.


Constructor & Destructor Documentation

ArVCC4::ArVCC4 ArRobot   robot,
bool    inverted = false
 

Parameters:
robot  the robot this camera is attached to
inverted  if this camera is inverted or not, the only time a camera will normally be inverted is on a robot where it's mounted on the underside of something, ie like in a peoplebot


The documentation for this class was generated from the following files:
Generated on Tue Nov 12 17:44:07 2002 for Aria by doxygen1.2.13.1 written by Dimitri van Heesch, © 1997-2001