ArTCM2 Class Reference

#include <ArTCM2.h>

Inheritance diagram for ArTCM2:

List of all members.

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Detailed Description

Interface to the PNI TCM 2, TCM 2.5, and TCM 2.6 3-axis compass (magnetometer) that can sense absolute heading, as well as pitch, roll, and includes a temperature sensor.

See subclasses and ArCompassConnector for more information, as well as your robot manuals. PNI's TCM manual is also available for download at the MobileRobots support website, documentation section.

This is an abstract interface. To create a compass interface object, instantiate a subclass or use ArCompassConnector.

Note:

The compass returns a heading relative to magnetic north, which varies depending on your location in the Earth's magnetic field (declination also varies slowly over time as the Earth's magnetic field changes). To find true north, you must apply an offset, or declination. For example, on June 1, 2007, the magnetic declination of MobileRobots' location of Amherst, NH, USA was 15 1/6 degrees West, so a value of approx. -15.166666 would have to be applied. You can look up declination values for various locations on Earth at http://www.ngdc.noaa.gov/seg/geomag/jsp/Declination.jsp

Examples:

demo.cpp.

Public Member Functions
void	addHeadingDataCallback (ArFunctor1< double > *f)
virtual bool	blockingConnect (unsigned long connectTimeout=5000)
virtual void	commandAutoCalibration (void)=0
	Start auto calibration.
virtual void	commandContinuousPackets (void)=0
	Start the compass sending a continuous stream of readings at its fastest rate.
virtual void	commandJustCompass (void)=0
	Command to just send compass heading data.
virtual void	commandOff (void)=0
	Turn sending of data off (Compass remains powered on, this is not its not low power standby mode).
virtual void	commandOnePacket (void)=0
	Get one reading from the compass.
virtual void	commandSoftReset (void)=0
	Command to do a soft reset of the compass.
virtual void	commandStopCalibration (void)=0
	Stop calibration.
virtual void	commandUserCalibration (void)=0
	Start user calibration.
virtual bool	connect ()
double	getCalibrationH (void) const
	Get the calibration H score (See TCM Manual).
double	getCalibrationM (void) const
	Get the calibration M score (See TCM Manual).
double	getCalibrationV (void) const
	Get the calibration V score (See TCM Manual).
double	getCompass (void) const
int	getError (void) const
double	getHeading (void) const
	Get the compass heading (-180, 180] degrees.
int	getPacCount (void)
	Gets the number of readings recieved in the last second.
double	getPitch (void) const
	Get the pitch (-180,180] degrees.
double	getRoll (void) const
	Get the roll (-180,180] degrees.
double	getTemperature (void) const
	Get the temperature (degrees C).
double	getXMagnetic (void) const
	Get the magnetic field X component (See TCM2 Manual).
double	getYMagnetic (void) const
	Get the magnetic field Y component (See TCM2 Manual).
double	getZMagnetic (void) const
	Get the magnetic field Z component (See TCM2 Manual).
bool	haveCalibrationH () const
bool	haveCalibrationM () const
bool	haveCalibrationV () const
bool	haveHeading () const
bool	havePitch () const
bool	haveRoll () const
bool	haveTemperature () const
bool	haveXMagnetic () const
bool	haveYMagnetic () const
bool	haveZMagnetic () const
Protected Member Functions
void	incrementPacketCount ()
void	invokeHeadingDataCallbacks (double heading)
Protected Attributes
double	myCalibrationH
double	myCalibrationM
double	myCalibrationV
int	myError
bool	myHaveCalibrationH
bool	myHaveCalibrationM
bool	myHaveCalibrationV
bool	myHaveHeading
bool	myHavePitch
bool	myHaveRoll
bool	myHaveTemperature
bool	myHaveXMag
bool	myHaveYMag
bool	myHaveZMag
double	myHeading
std::list< ArFunctor1< double > * >	myHeadingDataCallbacks
int	myPacCount
int	myPacCurrentCount
double	myPitch
double	myRoll
double	myTemperature
time_t	myTimeLastPacket
double	myXMag
double	myYMag
double	myZMag

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Member Function Documentation

bool ArTCM2::blockingConnect (  unsigned long  connectTimeout = 5000  )  [virtual]

If a connection/initialization procedure is required, perform it, wait until data is recieved from the compass, and return true on success, false on failure. Otherwise, just return true. Examples: demo.cpp.

bool ArTCM2::connect (   )  [virtual]

If a connection/initialization procedure is required, perform it, and return true on success, false on failure. Otherwise, just return true. Reimplemented in ArTCMCompassDirect.

double ArTCM2::getCompass (  void   )  const [inline]

Get the compass heading (-180, 180] degrees Deprecated: Use getHeading()

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The documentation for this class was generated from the following files:

• ArTCM2.h
• ArTCM2.cpp

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