#include <ArDPPTU.h>
Inheritance diagram for ArDPPTU:
Public Types | |
| enum | DeviceType { PANTILT_DEFAULT, PANTILT_PTUD47 } |
Public Member Functions | |
| ArDPPTU (ArRobot *robot, DeviceType deviceType=PANTILT_DEFAULT) | |
| Constructor. | |
| bool | awaitExec (void) |
| Instructs unit to await completion of the last issued command. | |
| bool | basePanSlew (double deg) |
| Sets the start-up pan slew. | |
| bool | baseTiltSlew (double deg) |
| Sets the start-up tilt slew. | |
| bool | blank (void) |
| Sends a delimiter only. | |
| bool | canZoom (void) const |
| bool | disableReset (void) |
| Disable power-on reset. | |
| bool | disMon (void) |
| Disables monitor mode at power up. | |
| bool | enMon (void) |
| Enables monitor mode at power up. | |
| bool | factorySet (void) |
| Restore factory defaults. | |
| double | getBasePanSlew (void) |
| Gets the base pan slew. | |
| double | getBaseTiltSlew (void) |
| Gets the base tilt slew. | |
| virtual double | getMaxNegPan (void) const |
| virtual double | getMaxNegTilt (void) const |
| double | getMaxPanAccel (void) |
| double | getMaxPanSlew (void) |
| virtual double | getMaxPosPan (void) const |
| virtual double | getMaxPosTilt (void) const |
| double | getMaxTiltAccel (void) |
| double | getMaxTiltSlew (void) |
| double | getMinPanAccel (void) |
| double | getMinPanSlew (void) |
| double | getMinTiltAccel (void) |
| double | getMinTiltSlew (void) |
| virtual double | getPan (void) const |
| double | getPanAccel (void) |
| Gets the current pan acceleration rate. | |
| double | getPanSlew (void) |
| Gets the current pan slew. | |
| virtual double | getTilt (void) const |
| double | getTiltAccel (void) |
| Gets the current tilt acceleration rate. | |
| double | getTiltSlew (void) |
| Gets the current tilt slew. | |
| bool | haltAll (void) |
| Halts all pan-tilt movement. | |
| bool | haltPan (void) |
| Halts pan axis movement. | |
| bool | haltTilt (void) |
| Halts tilt axis movement. | |
| bool | highMotPower (void) |
| Sets high in-motion power mode. | |
| bool | immedExec (void) |
| Sets unit to immediate-execution mode for positional commands. | |
| bool | indepMove (void) |
| Sets motion to indenpendent control mode. | |
| bool | init (void) |
| bool | initMon (double deg1, double deg2, double deg3, double deg4) |
| Sets monitor mode - pan pos1/pos2, tilt pos1/pos2. | |
| bool | limitEnforce (bool val) |
| Enables or disables the position limit enforcement. | |
| bool | lowerPanSlew (double deg) |
| Sets the lower pan slew. | |
| bool | lowerTiltSlew (double deg) |
| Sets the lower pan slew. | |
| bool | lowMotPower (void) |
| Sets low in-motion power mode. | |
| bool | lowStatPower (void) |
| Sets low stationary power mode. | |
| bool | offStatPower (void) |
| Sets stationary power mode to off. | |
| bool | pan (double deg) |
| bool | panAccel (double deg) |
| Sets acceleration for pan axis. | |
| bool | panRel (double deg) |
| bool | panSlew (double deg) |
| Sets the rate that the unit pans at. | |
| bool | panSlewRel (double deg) |
| Sets the rate that the unit pans at, relative to current slew. | |
| bool | panTilt (double pdeg, double tdeg) |
| bool | panTiltRel (double pdeg, double tdeg) |
| bool | regMotPower (void) |
| Sets regular in-motion power mode. | |
| bool | regStatPower (void) |
| Sets regular stationary power mode. | |
| bool | resetAll (void) |
| Reset pan and tilt axes on power-on. | |
| bool | resetCalib (void) |
| Perform reset calibration. | |
| bool | resetPan (void) |
| Reset pan axis only. | |
| bool | resetTilt (void) |
| Reset tilt axis. | |
| bool | restoreSet (void) |
| Restore stored defaults. | |
| bool | saveSet (void) |
| Save current settings as defaults. | |
| bool | slaveExec (void) |
| Sets unit to slaved-execution mode for positional commands. | |
| bool | tilt (double deg) |
| bool | tiltAccel (double deg) |
| Sets acceleration for tilt axis. | |
| bool | tiltRel (double deg) |
| bool | tiltSlew (double deg) |
| Sets the rate the unit tilts at. | |
| bool | tiltSlewRel (double deg) |
| Sets the rate the unit tilts at, relative to current slew. | |
| bool | upperPanSlew (double deg) |
| Sets the upper pan slew. | |
| bool | upperTiltSlew (double deg) |
| Sets the upper tilt slew. | |
| bool | velMove (void) |
| Sets motion to pure velocity control mode. | |
| virtual | ~ArDPPTU () |
| Destructor. | |
Protected Member Functions | |
| void | preparePacket (void) |
Protected Attributes | |
| double | myBasePanSlew |
| double | myBaseTiltSlew |
| DeviceType | myDeviceType |
| int | myMaxPan |
| int | myMaxPanAccel |
| int | myMaxPanSlew |
| int | myMaxTilt |
| int | myMaxTiltAccel |
| int | myMaxTiltSlew |
| int | myMinPan |
| int | myMinPanAccel |
| int | myMinPanSlew |
| int | myMinTilt |
| int | myMinTiltAccel |
| int | myMinTiltSlew |
| ArDPPTUPacket | myPacket |
| double | myPan |
| adds on extra delim in front to work on H8 | |
| double | myPanAccel |
| float | myPanConvert |
| double | myPanSlew |
| ArRobot * | myRobot |
| double | myTilt |
| double | myTiltAccel |
| float | myTiltConvert |
| double | myTiltSlew |
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Constructor. deviceType selects different parameters for different DPPTU models. For most DPPTUs, the default is correct. For others, the type must be specified so the correct position values will be used. |
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Sends a delimiter only. A blank packet can be sent to exit monitor mode |
1.4.2