org.openimaj.demos.servotrack.PTServoController Maven / Gradle / Ivy

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A project for various tests that don't quite constitute demos but might be useful to look at.
There is a newer version: 1.3.10
/**
 * Copyright (c) 2011, The University of Southampton and the individual contributors.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 *   * 	Redistributions of source code must retain the above copyright notice,
 * 	this list of conditions and the following disclaimer.
 *
 *   *	Redistributions in binary form must reproduce the above copyright notice,
 * 	this list of conditions and the following disclaimer in the documentation
 * 	and/or other materials provided with the distribution.
 *
 *   *	Neither the name of the University of Southampton nor the names of its
 * 	contributors may be used to endorse or promote products derived from this
 * 	software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
package org.openimaj.demos.servotrack;

import jssc.SerialPort;

import org.openimaj.hardware.serial.SerialDevice;

public class PTServoController {
	private SerialDevice device;
	private int currentTilt = 90;
	private int currentPan = 90;

	public PTServoController(String dev) throws Exception {
		device = new SerialDevice(dev, 9600, SerialPort.DATABITS_8,
				SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);

		this.setPan(currentPan);
		this.setTilt(currentTilt);
	}

	public void setTilt(int angle) {
		if (angle > 0 && angle < 180) {
			currentTilt = angle;
			sendCommand("t", currentTilt);
		}
	}

	public void setPan(int angle) {
		if (angle > 0 && angle < 180) {
			currentPan = angle;
			sendCommand("p", currentPan);
		}
	}

	public void changePanBy(int angle) {
		setPan(angle + currentPan);
	}

	public void changeTiltBy(int angle) {
		setTilt(angle + currentTilt);
	}

	public int getTilt() {
		return currentTilt;
	}

	public int getPan() {
		return currentPan;
	}

	private void sendCommand(String servo, int angle) {
		try {
			device.getOutputStream().write((servo + " " + angle + "\n").getBytes("US-ASCII"));
			Thread.sleep(60);
		} catch (final Exception e) {
			throw new RuntimeException(e);
		}
	}

	public static void main(String[] args) throws Exception {
		final PTServoController controller = new PTServoController("/dev/tty.usbmodemfd121");

		for (int i = 0; i < 100; i++) {
			controller.setPan(i);
			controller.setTilt(60 + i);
		}

		System.exit(0);
	}
}