68 lines
2.8 KiB
C
68 lines
2.8 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARTCMCOMPASSROBOT_H
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#define ARTCMCOMPASSROBOT_H
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#include "ariaUtil.h"
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#include "ArCommands.h"
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#include "ArFunctor.h"
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#include "ArRobot.h"
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#include "ArTCM2.h"
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/** Interface to a TCM 2/2.5/2.6 3-axis compass through the robot microcontroller.
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* When a Pioneer robot is equipped with a TCM compass, it is typically connected
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* to the robot microcontroller, which returns compass information in
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* compass data packets upon request (set compass mode/type to 2 or 3 in
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* firmware configuration; mode 1 (data in SIP) is not supported by ARIA). This class communicates
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* with the robot microcontroller to configure the compass and recieve data
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* from it.
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*
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*/
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class ArTCMCompassRobot : public virtual ArTCM2
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{
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public:
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AREXPORT ArTCMCompassRobot(ArRobot *robot);
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AREXPORT virtual ~ArTCMCompassRobot();
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virtual void commandOff(void) { myRobot->comInt(ArCommands::TCM2, 0); }
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virtual void commandJustCompass(void) { myRobot->comInt(ArCommands::TCM2, 1); }
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virtual void commandOnePacket(void) { myRobot->comInt(ArCommands::TCM2, 2); }
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virtual void commandContinuousPackets(void) { myRobot->comInt(ArCommands::TCM2, 3); }
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virtual void commandUserCalibration(void) { myRobot->comInt(ArCommands::TCM2, 4); }
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virtual void commandAutoCalibration(void) { myRobot->comInt(ArCommands::TCM2, 5); }
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virtual void commandStopCalibration(void) { myRobot->comInt(ArCommands::TCM2, 6); }
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virtual void commandSoftReset(void) { myRobot->comInt(ArCommands::TCM2, 7); }
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private:
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ArRobot *myRobot;
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ArRetFunctor1C<bool, ArTCMCompassRobot, ArRobotPacket*> myPacketHandlerCB;
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bool packetHandler(ArRobotPacket *packet);
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};
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#endif
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