-
Notifications
You must be signed in to change notification settings - Fork 286
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Adding wrapper vpServoPololuMaestro class over RappaPololuMaestro sdk
Allow position and velocity control using pololu board Move documentation from .cpp to .h
- Loading branch information
Pierre Perraud
committed
Oct 6, 2023
1 parent
a108a15
commit a91a161
Showing
12 changed files
with
1,167 additions
and
30 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| ############################################################################# | ||
| # | ||
| # ViSP, open source Visual Servoing Platform software. | ||
| # Copyright (C) 2005 - 2023 by Inria. All rights reserved. | ||
| # | ||
| # This software 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. | ||
| # See the file LICENSE.txt at the root directory of this source | ||
| # distribution for additional information about the GNU GPL. | ||
| # | ||
| # For using ViSP with software that can not be combined with the GNU | ||
| # GPL, please contact Inria about acquiring a ViSP Professional | ||
| # Edition License. | ||
| # | ||
| # See https://visp.inria.fr for more information. | ||
| # | ||
| # This software was developed at: | ||
| # Inria Rennes - Bretagne Atlantique | ||
| # Campus Universitaire de Beaulieu | ||
| # 35042 Rennes Cedex | ||
| # France | ||
| # | ||
| # If you have questions regarding the use of this file, please contact | ||
| # Inria at [email protected] | ||
| # | ||
| # This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE | ||
| # WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. | ||
| # | ||
| # Description: | ||
| # Try to find Rapa Pololu Maestro library material | ||
| # See https://github.com/jbitoniau/RapaPololuMaestro | ||
| # | ||
| # RapaPololuMaestro_FOUND | ||
| # RapaPololuMaestro_INCLUDE_DIRS | ||
| # RapaPololuMaestro_LIBRARIES | ||
| # | ||
| ############################################################################# | ||
|
|
||
| find_path(RapaPololuMaestro_INCLUDE_DIR RPMSerialInterface.h | ||
| PATHS | ||
| $ENV{RapaPololuMaestro_DIR}/include | ||
| ${RapaPololuMaestro_DIR}/include | ||
| /usr/include | ||
| /usr/local/include | ||
| ) | ||
|
|
||
| find_library(RapaPololuMaestro_LIBRARY | ||
| NAMES RapaPololuMaestro | ||
| PATHS | ||
| $ENV{RapaPololuMaestro_DIR}/lib | ||
| ${RapaPololuMaestro_DIR}/lib | ||
| /usr/lib | ||
| /usr/local/lib | ||
| ) | ||
|
|
||
| if(RapaPololuMaestro_INCLUDE_DIR AND RapaPololuMaestro_LIBRARY) | ||
| set(RapaPololuMaestro_FOUND TRUE) | ||
| set(RapaPololuMaestro_INCLUDE_DIRS ${RapaPololuMaestro_INCLUDE_DIR}) | ||
| set(RapaPololuMaestro_LIBRARIES ${RapaPololuMaestro_LIBRARY}) | ||
| else() | ||
| set(RapaPololuMaestro_FOUND FALSE) | ||
| endif() | ||
|
|
||
| mark_as_advanced( | ||
| RapaPololuMaestro_INCLUDE_DIR | ||
| RapaPololuMaestro_LIBRARY | ||
| RapaPololuMaestro_INCLUDE_DIRS | ||
| RapaPololuMaestro_LIBRARIES | ||
| ) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,170 @@ | ||
| /* | ||
| * ViSP, open source Visual Servoing Platform software. | ||
| * Copyright (C) 2005 - 2023 by Inria. All rights reserved. | ||
| * | ||
| * This software 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. | ||
| * See the file LICENSE.txt at the root directory of this source | ||
| * distribution for additional information about the GNU GPL. | ||
| * | ||
| * For using ViSP with software that can not be combined with the GNU | ||
| * GPL, please contact Inria about acquiring a ViSP Professional | ||
| * Edition License. | ||
| * | ||
| * See https://visp.inria.fr for more information. | ||
| * | ||
| * This software was developed at: | ||
| * Inria Rennes - Bretagne Atlantique | ||
| * Campus Universitaire de Beaulieu | ||
| * 35042 Rennes Cedex | ||
| * France | ||
| * | ||
| * If you have questions regarding the use of this file, please contact | ||
| * Inria at [email protected] | ||
| * | ||
| * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE | ||
| * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. | ||
| * | ||
| * Description: | ||
| * Common features for Pololu Maestro PanTiltUnit. | ||
| */ | ||
|
|
||
| #ifndef _vpPTUPololuMaestro_h_ | ||
| #define _vpPTUPololuMaestro_h_ | ||
|
|
||
| #include <visp3/core/vpConfig.h> | ||
|
|
||
| #ifdef VISP_HAVE_RAPA_POLOLU_MAESTRO | ||
|
|
||
| #include <iostream> | ||
| #include <string> | ||
| #include <thread> | ||
| #include <chrono> | ||
|
|
||
| #include <RPMSerialInterface.h> | ||
|
|
||
| #include <visp3/robot/vpServoPololuMaestro.h> | ||
|
|
||
| using namespace std; | ||
|
|
||
| /*! | ||
| * \class vpPTUPololuMaestro | ||
| * \ingroup group_robot_real_arm | ||
| * | ||
| * \brief Interface for the Pololu Maestro Pan Tilt Unit using servo motors. | ||
| * | ||
| * See https://www.pololu.com/category/102/maestro-usb-servo-controllers for more details. | ||
| * | ||
| * This class handle the vpServoPololuMaestro class in a higher level and allows to control | ||
| * the Pan Tilt Unit using position or velocity commands. | ||
| * | ||
| */ | ||
| class VISP_EXPORT vpPTUPololuMaestro | ||
| { | ||
| public: | ||
| typedef enum { pan, tilt, yaw } Axe; | ||
|
|
||
| /*! | ||
| * Default constructor. | ||
| */ | ||
| vpPTUPololuMaestro(); | ||
|
|
||
|
|
||
| /*! | ||
| * Value constructor. | ||
| * | ||
| * \param baudrate : Baudrate used for the serial communication. | ||
| * | ||
| * \param device : Name of the serial interface used for communication. | ||
| */ | ||
| vpPTUPololuMaestro(const std::string &device, int baudrate); | ||
|
|
||
| /*! | ||
| * Destructor. | ||
| */ | ||
| virtual ~vpPTUPololuMaestro(); | ||
|
|
||
| /*! | ||
| * Get ranges for a given axe. | ||
| * | ||
| * \param minAngle : Pointer to minimum range of the servo. | ||
| * | ||
| * \param maxAngle : Pointer to maximum range of the servo. | ||
| * | ||
| * \param rangeAngle : Pointer to the range of the servo. | ||
| * | ||
| * \param axe : One of the axe define in vpPTUPololuMaestro.h Axe enum. | ||
| * | ||
| */ | ||
| void getRange(float &minAngle, float &maxAngle, float &rangeAngle, Axe axe = pan); | ||
|
|
||
| /*! | ||
| * Get the current position of a servo motor in degree. | ||
| * | ||
| * \param angle : Angle, in degree. | ||
| * | ||
| * \param axe : One of the axe define in vpPTUPololuMaestro.h Axe enum. | ||
| * | ||
| */ | ||
| void getPositionAngle(float &angle, Axe axe); | ||
|
|
||
|
|
||
| /*! | ||
| * Initiate the serial connection with the Pololu board. | ||
| * | ||
| * \param device : Name of the serial interface used for communication. | ||
| * | ||
| * \param baudrate : Baudrate used for the serial communication. | ||
| * | ||
| */ | ||
| void setConnection(std::string device, int baudrate); | ||
|
|
||
| /*! | ||
| * Set position in degree and the maximum speed of displacement for a given axe. | ||
| * | ||
| * \param angle : Angle to reach, in degree. | ||
| * | ||
| * \param speed : Maximum speed for movement in units of (0.25 μs)/(10 ms). | ||
| * You can use the vpServoPololuMaestro::degSToSpeed method for conversion. | ||
| * | ||
| * \param axe : One of the axe define in vpPTUPololuMaestro.h Axe enum. | ||
| * | ||
| */ | ||
| void setPositionAngle(float angle, unsigned short speed = 0, Axe axe = pan); | ||
|
|
||
| /*! | ||
| * Set and start the velocity command for a given axe. | ||
| * | ||
| * \param speed : Speed for movement in units of (0.25 μs)/(10 ms). | ||
| * You can use the vpServoPololuMaestro::degSToSpeed method for conversion. | ||
| * | ||
| * \param axe : One of the axe define in vpPTUPololuMaestro.h Axe enum. | ||
| * | ||
| */ | ||
| void setVelocityCmd(short speed, Axe axe = pan); | ||
|
|
||
|
|
||
| /*! | ||
| * Stop the velocity command for a given axe. | ||
| * | ||
| * \param axe : One of the axe define in vpPTUPololuMaestro.h Axe enum. | ||
| * | ||
| */ | ||
| void stopVelocityCmd(Axe axe); | ||
|
|
||
| private: | ||
| // Serial connection parameters. | ||
| int m_baudrate; | ||
| std::string m_device; | ||
| RPM::SerialInterface *m_serialInterface; | ||
|
|
||
| vpServoPololuMaestro m_pan; | ||
| vpServoPololuMaestro m_tilt; | ||
|
|
||
| bool m_verbose; | ||
| }; | ||
|
|
||
| #endif | ||
| #endif |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.