#include <ArDPPTU.h>
Inheritance diagram for ArDPPTU:
Public Types | |
| enum | { MAX_PAN = 158, MIN_PAN = -158, MAX_TILT = 30, MIN_TILT = -46, MAX_PAN_SLEW = 149, MIN_PAN_SLEW = 2, MAX_TILT_SLEW = 149, MIN_TILT_SLEW = 2, MAX_PAN_ACCEL = 102, MIN_PAN_ACCEL = 2, MAX_TILT_ACCEL = 102, MIN_TILT_ACCEL = 2 } |
Public Member Functions | |
| ArDPPTU (ArRobot *robot) | |
| Constructor. | |
| bool | awaitExec (void) |
| Instructs unit to await completion of the last issued command. | |
| bool | basePanSlew (int deg) |
| Sets the start-up pan slew. | |
| bool | baseTiltSlew (int deg) |
| Sets the start-up tilt slew. | |
| bool | blank (void) |
| Sends a delimiter only. | |
| bool | canZoom (void) const |
| Returns true if camera can zoom (or rather, if it is controlled by this). | |
| 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. | |
| int | getBasePanSlew (void) |
| Gets the base pan slew. | |
| int | getBaseTiltSlew (void) |
| Gets the base tilt slew. | |
| virtual int | getMaxNegPan (void) const |
| Gets the lowest negative degree the camera can pan to. | |
| virtual int | getMaxNegTilt (void) const |
| Gets the lowest negative degree the camera can tilt to. | |
| int | getMaxPanAccel (void) |
| int | getMaxPanSlew (void) |
| virtual int | getMaxPosPan (void) const |
| Gets the highest positive degree the camera can pan to. | |
| virtual int | getMaxPosTilt (void) const |
| Gets the highest positive degree the camera can tilt to. | |
| int | getMaxTiltAccel (void) |
| int | getMaxTiltSlew (void) |
| int | getMinPanAccel (void) |
| int | getMinPanSlew (void) |
| int | getMinTiltAccel (void) |
| int | getMinTiltSlew (void) |
| virtual int | getPan (void) const |
| The angle the camera was last told to pan to. | |
| int | getPanAccel (void) |
| Gets the current pan acceleration rate. | |
| int | getPanSlew (void) |
| Gets the current pan slew. | |
| virtual int | getTilt (void) const |
| The angle the camera was last told to tilt to. | |
| int | getTiltAccel (void) |
| Gets the current tilt acceleration rate. | |
| int | 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) |
| Initializes the camera. | |
| bool | initMon (int deg1, int deg2, int deg3, int deg4) |
| Sets monitor mode - pan pos1/pos2, tilt pos1/pos2. | |
| bool | limitEnforce (bool val) |
| Enables or disables the position limit enforcement. | |
| bool | lowerPanSlew (int deg) |
| Sets the lower pan slew. | |
| bool | lowerTiltSlew (int 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 (int deg) |
| Pans to the given degrees. | |
| bool | panAccel (int deg) |
| Sets acceleration for pan axis. | |
| bool | panRel (int deg) |
| Pans relative to current position by given degrees. | |
| bool | panSlew (int deg) |
| Sets the rate that the unit pans at. | |
| bool | panSlewRel (int deg) |
| Sets the rate that the unit pans at, relative to current slew. | |
| bool | panTilt (int pdeg, int tdeg) |
| Pans and tilts to the given degrees. | |
| bool | panTiltRel (int pdeg, int tdeg) |
| Pans and tilts relatives to the current position by the given degrees. | |
| 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 (int deg) |
| Tilts to the given degrees. | |
| bool | tiltAccel (int deg) |
| Sets acceleration for tilt axis. | |
| bool | tiltRel (int deg) |
| Tilts relative to the current position by given degrees. | |
| bool | tiltSlew (int deg) |
| Sets the rate the unit tilts at. | |
| bool | tiltSlewRel (int deg) |
| Sets the rate the unit tilts at, relative to current slew. | |
| bool | upperPanSlew (int deg) |
| Sets the upper pan slew. | |
| bool | upperTiltSlew (int 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 | |
| int | myBasePanSlew |
| int | myBaseTiltSlew |
| ArDPPTUPacket | myPacket |
| int | myPan |
| adds on extra delim in front to work on H8 | |
| int | myPanAccel |
| int | myPanSlew |
| ArRobot * | myRobot |
| int | myTilt |
| int | myTiltAccel |
| int | myTiltSlew |
Static Protected Attributes | |
| static const double | CONVERT = 0.0514 |
Definition at line 94 of file ArDPPTU.h.
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Sends a delimiter only. A blank packet can be sent to exit monitor mode * Definition at line 112 of file ArDPPTU.cpp. References ArBasePacket::empty(), and ArPTZ::sendPacket(). |
1.4.0