vpPololu.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 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 visp@inria.fr
 *
 * 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 Servo Motor.
 */
 
#ifndef _vpPololu_h_
#define _vpPololu_h_
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_POLOLU) && defined(VISP_HAVE_THREADS)
 
#include <iostream>
#include <string>
#include <mutex>
 
class RPMSerialInterface;
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPololu
{
public:
  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);

  inline void setAngularRange(float min_angle, float max_angle)
  {
    m_min_angle = min_angle;
    m_max_angle = max_angle;
    m_range_angle = m_max_angle - m_min_angle;
  }

  void setAngularVelocity(float vel_rad_s);

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

  inline void setPwmRange(unsigned short min_pwm, unsigned short max_pwm)
  {
    m_min_pwm = min_pwm;
    m_max_pwm = max_pwm;
    m_range_pwm = m_max_pwm - m_min_pwm;
  }

  void setPwmVelocity(short pwm_vel);

  void setVerbose(bool verbose)
  {
    m_verbose = verbose;
  }

  void stopVelocityCmd();


  float pwmToRad(unsigned short pwm) const;

  unsigned short radToPwm(float angle) const;

  short radSToSpeed(float speed_rad_s) const;

  float speedToRadS(short speed) const;
 
private:
  static RPMSerialInterface *m_interface; // Only one interface should be used even when controlling multiple servos
  static int m_nb_servo; // Object counter to handel serial interface destruction
 
  int m_channel;
  bool m_apply_velocity_cmd;
  bool m_stop_velocity_cmd_thread;
 
  unsigned short m_vel_speed;    
  unsigned short m_vel_target_position; 
 
  unsigned short m_vel_speed_prev; 
  unsigned short m_vel_target_position_prev; 
 
  std::mutex m_mutex_velocity_cmd;
 
  // ranges
  unsigned short m_min_pwm = 4095;
  unsigned short m_max_pwm = 7905;
  unsigned short m_range_pwm = m_max_pwm - m_min_pwm;
  float m_min_angle = -40;
  float m_max_angle = 40;
  float m_range_angle = abs(m_min_angle) + abs(m_max_angle);
 
  bool m_verbose;

  void VelocityCmdThread();
};
END_VISP_NAMESPACE
#endif
#endif