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