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Defines | |
| #define | ANG_CONVERSION (3.086 * 2.0 * M_PI / 21600.0) |
| #define | PTU_DEV "/dev/ttyR2" |
| #define | PAN_TOL .001 |
| #define | TILT_TOL .001 |
Functions | |
| void | initialize (void) |
| void | cancel_all (void) |
| void | pan_to (double rad) |
| void | pan (double rad) |
| void | tilt_to (double rad) |
| void | tilt (double rad) |
| void | set_pan_vel (double radps) |
| void | set_pan_accel (double radpss) |
| void | set_pan_upper (double rad) |
| void | set_tilt_vel (double radps) |
| void | set_tilt_accel (double radpss) |
| void | set_tilt_upper (double rad) |
| int | main (int argc, char *argv[]) |
Variables | |
| portstream_fd | _fd |
| float | pan_goal |
| float | tilt_goal |
| bool | pan_has_goal = false |
| bool | tilt_has_goal = false |
| #define ANG_CONVERSION (3.086 * 2.0 * M_PI / 21600.0) |
Definition at line 10 of file ptuServer.cpp.
Referenced by main(), pan(), pan_to(), set_pan_accel(), set_pan_upper(), set_pan_vel(), set_tilt_accel(), set_tilt_upper(), set_tilt_vel(), tilt(), and tilt_to().
| #define PAN_TOL .001 |
| #define PTU_DEV "/dev/ttyR2" |
| #define TILT_TOL .001 |
| void cancel_all | ( | void | ) |
Definition at line 175 of file ptuServer.cpp.
References pan_has_goal, pan_to(), tilt_has_goal, and tilt_to().
Referenced by main().
| void initialize | ( | void | ) |
Definition at line 152 of file ptuServer.cpp.
References _fd, WURDE::g_fatal(), open_host_port(), pan_has_goal, PORT_NOT_OPENED, PTU_DEV, PTU_OK, reset_ptu(), reset_PTU_parser(), and tilt_has_goal.
Referenced by main().
| int main | ( | int | argc, | |
| char * | argv[] | |||
| ) |
Definition at line 34 of file ptuServer.cpp.
References ACCELERATION, ANG_CONVERSION, cancel_all(), CommsManager::cleanUp(), WURDE::g_debug(), get_current(), get_desired(), PTUnit::getNextRequest(), CommsManager::getState(), Writable::getValue(), PTUnit::info, initialize(), myManager, Capability::newRequest(), PAN, PTUnitInfoStruct::pan, PTUnitInfoStruct::pan_accel, pan_goal, pan_has_goal, pan_to(), PAN_TOL, PTUnitInfoStruct::pan_upper, PTUnitInfoStruct::pan_vel, CommsManager::parseOptions(), POSITION, PTUnit::publishInfo(), CommsManager::registerSupplier(), PTUnit::requests, CommsManager::runUpdate(), CommsManager::setHelpString(), CommsManager::setRealName(), CommsManager::setSleep(), Writable::setStatus(), Writable::setValue(), Writable::setValueAndLock(), SPEED, WURDE::STAT_OKAY, WURDE::STATE_INFO, WURDE::STATE_RUN, TILT, PTUnitInfoStruct::tilt, PTUnitInfoStruct::tilt_accel, tilt_goal, tilt_has_goal, tilt_to(), TILT_TOL, PTUnitInfoStruct::tilt_upper, PTUnitInfoStruct::tilt_vel, and UPPER_SPEED_LIMIT.
| void pan | ( | double | rad | ) |
Definition at line 199 of file ptuServer.cpp.
References ANG_CONVERSION, get_current(), PAN, pan_to(), and POSITION.
Referenced by FaceOperator::DrawLaserDataDots().
| void pan_to | ( | double | rad | ) |
Definition at line 189 of file ptuServer.cpp.
References ABSOLUTE, ANG_CONVERSION, PAN, pan_goal, pan_has_goal, POSITION, set_desired(), and tilt_has_goal.
Referenced by cancel_all(), main(), and pan().
| void set_pan_accel | ( | double | radpss | ) |
Definition at line 228 of file ptuServer.cpp.
References ABSOLUTE, ACCELERATION, ANG_CONVERSION, PAN, and set_desired().
| void set_pan_upper | ( | double | rad | ) |
Definition at line 234 of file ptuServer.cpp.
References ABSOLUTE, ANG_CONVERSION, PAN, set_desired(), and UPPER_SPEED_LIMIT.
| void set_pan_vel | ( | double | radps | ) |
Definition at line 219 of file ptuServer.cpp.
References ABSOLUTE, ANG_CONVERSION, PAN, set_desired(), and SPEED.
| void set_tilt_accel | ( | double | radpss | ) |
Definition at line 246 of file ptuServer.cpp.
References ABSOLUTE, ACCELERATION, ANG_CONVERSION, set_desired(), and TILT.
| void set_tilt_upper | ( | double | rad | ) |
Definition at line 252 of file ptuServer.cpp.
References ABSOLUTE, ANG_CONVERSION, set_desired(), TILT, and UPPER_SPEED_LIMIT.
| void set_tilt_vel | ( | double | radps | ) |
Definition at line 240 of file ptuServer.cpp.
References ABSOLUTE, ANG_CONVERSION, set_desired(), SPEED, and TILT.
| void tilt | ( | double | rad | ) |
Definition at line 214 of file ptuServer.cpp.
References ANG_CONVERSION, get_current(), POSITION, TILT, and tilt_to().
Referenced by FaceOperator::DrawLaserDataDots().
| void tilt_to | ( | double | rad | ) |
Definition at line 204 of file ptuServer.cpp.
References ABSOLUTE, ANG_CONVERSION, pan_has_goal, POSITION, set_desired(), TILT, tilt_goal, and tilt_has_goal.
Referenced by cancel_all(), main(), and tilt().
| float pan_goal |
| bool pan_has_goal = false |
Definition at line 18 of file ptuServer.cpp.
Referenced by cancel_all(), initialize(), main(), pan_to(), and tilt_to().
| float tilt_goal |
| bool tilt_has_goal = false |
Definition at line 19 of file ptuServer.cpp.
Referenced by cancel_all(), initialize(), main(), pan_to(), and tilt_to().
1.5.1