You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
85 lines
2.1 KiB
85 lines
2.1 KiB
/*
|
|
* VisualServoing is a tutorial program for introducing students to
|
|
* robotics.
|
|
*
|
|
* Copyright 2009, 2010 Kevin Quigley <kevin.quigley@gmail.com> and
|
|
* Marsette Vona <vona@ccs.neu.edu>
|
|
*
|
|
* VisualServoing is free software: you can redistribute it andor modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* VisualServoing 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
|
|
* as the file COPYING along with VisualServoing. If not, see
|
|
* <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#include "Command.hpp"
|
|
|
|
|
|
Command::Command(const char c) {
|
|
if (c != 0) cmd << c;
|
|
}
|
|
|
|
|
|
void Command::addMove(unsigned int servo,
|
|
unsigned int pwm,
|
|
unsigned int speed,
|
|
unsigned int time) {
|
|
cmd << "#" << servo
|
|
<< "P" << pwm;
|
|
|
|
if (speed != ANY_SPEED)
|
|
cmd << "S" << speed;
|
|
|
|
if (time != NO_TIME)
|
|
minTime(time);
|
|
}
|
|
|
|
void Command::minTime(unsigned int time) {
|
|
if (time == NO_TIME) {
|
|
//perror("Time commanded is not possible");
|
|
return;
|
|
}
|
|
|
|
cmd << "T" << time;
|
|
}
|
|
|
|
void Command::reset(void) {
|
|
cmd.str("");
|
|
cmd.clear();
|
|
}
|
|
|
|
|
|
const Command& Command::release(unsigned int servo) {
|
|
static Command cmd;
|
|
cmd.reset();
|
|
cmd.addMove(servo,0); // zero move releases power
|
|
return cmd;
|
|
}
|
|
|
|
const Command& Command::release(std::list<unsigned int> servos) {
|
|
static Command cmd;
|
|
cmd.reset();
|
|
for (std::list<unsigned int>::const_iterator c = servos.begin();
|
|
c != servos.end();
|
|
c++) {
|
|
cmd.addMove(*c,0); // zero move releases power
|
|
}
|
|
return cmd;
|
|
}
|
|
|
|
|
|
const Command& Command::releaseAll(unsigned int num_servos) {
|
|
static Command cmd;
|
|
cmd.reset();
|
|
for (unsigned int i = 0; i < num_servos; i++) {
|
|
cmd.addMove(i,0);
|
|
}
|
|
return cmd;
|
|
}
|