#include <visp3/robot/vpPololu.h>

Public Member Functions
	vpPololu (bool verbose=false)

	vpPololu (const std::string &device, int baudrate=38400, int channel=0, bool verbose=false)

virtual	~vpPololu ()

void	calibrate (unsigned short &pwm_min, unsigned short &pwm_max)

void	connect (const std::string &device, int baudrate, int channel)

bool	connected () const

float	getAngularPosition () const

unsigned short	getPwmPosition () const

void	getRangeAngles (float &minAngle, float &maxAngle) const

void	getRangePwm (unsigned short &min, unsigned short &max)

void	setAngularPosition (float pos_rad, float vel_rad_s=0.f)

void	setAngularRange (float min_angle, float max_angle)

void	setAngularVelocity (float vel_rad_s)

void	setPwmPosition (unsigned short pos_pwm, unsigned short speed_pwm=0)

void	setPwmRange (unsigned short min_pwm, unsigned short max_pwm)

void	setPwmVelocity (short pwm_vel)

void	setVerbose (bool verbose)

void	stopVelocityCmd ()

Public Member Functions for Conversion
float	pwmToRad (unsigned short pwm) const

unsigned short	radToPwm (float angle) const

short	radSToSpeed (float speed_rad_s) const

float	speedToRadS (short speed) const

Detailed Description

Interface for the Pololu Maestro USB Servo Controllers.

See https://www.pololu.com/category/102/maestro-usb-servo-controllers for more details.

This class give a position and velocity control for the servo motors plugged into the board on a given channel. If you want to control two or more servo motors, you need to instanciate a new object for each additional servo motor. An example is given in the vpRobotPololuPtu class that allows to control a pan-tilt unit with two servo motors.

It implements a velocity controller that runs in a separate thread.

A servomotor can be position-controlled by giving it position commands in pwm units using setPwmPosition() or in angles expressed in radians using setAngularPosition().
It can be also velocity-controller by giving it velocity commands in pwm units using setPwmVelocity() or in ras/s using setAngularVelocity().

The conversion between pwm units and radians positions is done using radToPwm() or pwmToRad(). For velocity control conversion from pwm units and rad/s is done using speedToRadS() and radSToSpeed().

Each servo has a pwm position range that could be retrieved using calibrate() and set using set using setPwmRange().

It is the user responsability to set the corresponding angular range using setAngularRange().

Examples: testPololuPosition.cpp, and testPololuVelocity.cpp.

Definition at line 75 of file vpPololu.h.

Constructor & Destructor Documentation

◆ vpPololu() [1/2]

vpPololu::vpPololu ( bool verbose = false )

Default constructor.

Parameters

[in] verbose : When true enable verbose mode.

You need to call connect() to setup the serial link with the Pololu board.

Definition at line 54 of file vpPololu.cpp.

◆ vpPololu() [2/2]

vpPololu::vpPololu	(	const std::string &	device,
		int	baudrate = `38400`,
		int	channel = `0`,
		bool	verbose = `false`
	)

Constructor that enables the serial link with the Pololu board calling internally connect(). The velocity controller thread is created in the constructor and will run independently of the rest of the class. You can set velocity commands using setPwmVelocity() or setAngularVelocity().

Parameters

[in]	device	: Serial device name to dial with Pololu board.
[in]	baudrate	: Baudrate used to dial with Pololu board. Note that this parameter is only used on Windows.
[in]	channel	: Channel to which the servo is connected to the Pololu board.
[in]	verbose	: When true enable verbose mode.

Definition at line 59 of file vpPololu.cpp.

References connect().

◆ ~vpPololu()

vpPololu::~vpPololu ( )

virtual

Destructor.

Definition at line 91 of file vpPololu.cpp.

Member Function Documentation

◆ calibrate()

void vpPololu::calibrate	(	unsigned short &	pwm_min,
		unsigned short &	pwm_max
	)

Move servo motor to minimal pwm position and then to maximal pwm position to retrieve min and max pwm values.

Parameters

[out]	pwm_min	: Min position (pwm).
[out]	pwm_max	: Max position (pwm).

Definition at line 103 of file vpPololu.cpp.

References vpException::fatalError, and getPwmPosition().

◆ connect()

void vpPololu::connect	(	const std::string &	device,
		int	baudrate,
		int	channel
	)

Open a connection with the Pololu board.

Parameters

[in]	device	: Serial device name to dial with Pololu board.
[in]	baudrate	: Baudrate used to dial with Pololu board. Note that this parameter is only used on Windows.
[in]	channel	: Channel to which the servo is connected to the Pololu board.

Definition at line 66 of file vpPololu.cpp.

References vpRobotException::constructionError.

Referenced by vpPololu(), and vpRobotPololuPtu::vpRobotPololuPtu().