ArDPPTUCommands Class Reference

#include <ArDPPTU.h>

List of all members.

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Detailed Description

A class with the commands for the DPPTU.

ArPTZ implementation for Directed Perceptions pan-tilt units

Note that there are far too many functions enabled in here, most of which are extraneous. The important ones are defined in the ArPTZ class and include the basic pan, tilt commands.

The DPPTU's pan and tilt commands work on a number of units equal to (degrees / 0.514). The panTilt function always rounds the conversion closer to zero, so that a magnitude greater than the allowable range of movement is not sent to the camera.

If the DPPTU is connected to the microcontroller, make sure that the baud rate of the microcontroller-DPPTU connection is at least as fast, if not faster than the connection of the computer to the microcontroller. If it's slower then the commands sent to the DPPTU may get backed up in the AUX port buffer and cause the DPPTU to behave erratically. So, if the computer-microcontroller connection is autobauding up to 38400bps, then make sure that the microcontroller aux port is set to 38400bps, as well, and consult the DPPTU manual for directions on changing its baud rate.

Public Types
enum	{   DELIM = 0x20, INIT = 0x40, ACCEL = 0x61, BASE = 0x62,   CONTROL = 0x63, DISABLE = 0x64, ENABLE = 0x65, FACTORY = 0x66,   HALT = 0x68, IMMED = 0x69, LIMIT = 0x6C, MONITOR = 0x6D,   OFFSET = 0x6F, PAN = 0x70, RESET = 0x72, SPEED = 0x73,   TILT = 0x74, UPPER = 0x75, VELOCITY = 0x76 }
	ACCEL = 0x61
	Acceleration, Await position-command completion.
	BASE = 0x62
	Base speed.
	CONTROL = 0x63
	Speed control.
	DELIM = 0x20
	Space - Carriage return delimeter.
	DISABLE = 0x64
	Disable character, Delta, Default.
	ENABLE = 0x65
	Enable character, Echoing.
	FACTORY = 0x66
	Restore factory defaults.
	HALT = 0x68
	Halt, Hold, High.
	IMMED = 0x69
	Immediate position-command execution mode, Independent control mode.
	INIT = 0x40
	Init character.
	LIMIT = 0x6C
	Position limit character, Low.
	MONITOR = 0x6D
	Monitor, In-motion power mode.
	OFFSET = 0x6F
	Offset position, Off.
	PAN = 0x70
	Pan.
	RESET = 0x72
	Reset calibration, Restore stored defaults, Regular.
	SPEED = 0x73
	Speed, Slave.
	TILT = 0x74
	Tilt.
	UPPER = 0x75
	Upper speed limit.
	VELOCITY = 0x76
	Velocity control mode.

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Member Enumeration Documentation

anonymous enum

Enumerator:

DELIM	Space - Carriage return delimeter.
INIT	Init character.
ACCEL	Acceleration, Await position-command completion.
BASE	Base speed.
CONTROL	Speed control.
DISABLE	Disable character, Delta, Default.
ENABLE	Enable character, Echoing.
FACTORY	Restore factory defaults.
HALT	Halt, Hold, High.
IMMED	Immediate position-command execution mode, Independent control mode.
LIMIT	Position limit character, Low.
MONITOR	Monitor, In-motion power mode.
OFFSET	Offset position, Off.
PAN	Pan.
RESET	Reset calibration, Restore stored defaults, Regular.
SPEED	Speed, Slave.
TILT	Tilt.
UPPER	Upper speed limit.
VELOCITY	Velocity control mode.

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

• ArDPPTU.h

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