[Robotflow-cvs] RobotFlow/Devices/src SNCRZ30RS232.cc,1.6,1.7

[Dominic L. <ma...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Devices/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22524

Modified Files:
	SNCRZ30RS232.cc 
Log Message:
testing pan -tilt abs positions

Index: SNCRZ30RS232.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Devices/src/SNCRZ30RS232.cc,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** SNCRZ30RS232.cc	8 Jul 2005 19:58:14 -0000	1.6
--- SNCRZ30RS232.cc	19 Sep 2005 13:38:43 -0000	1.7
***************
*** 523,561 ****
    {
  
! 
!     //cerr<<"Abs pan "<<pan_position<<" Abs tilt "<<tilt_position<<endl;
! 
!      string message; 
!      string last;
!      int Sep1 = 0x000F;
!      int Sep2 = 0x00F0;
!      int Sep3 = 0x0F00;
!      int Sep4 = 0xF000;
!     
!      message += 0x81;
!      message += 0x01;
!      message += 0x06;
!      message += 0x02;
!     
!      message += max(0,min(pan_speed,24));
!      message += max(0,min(tilt_speed,20));
!     
       pan_position = max(min(pan_position,1700), -1700);
       tilt_position = max(min(tilt_position,425), -725);
  
!      message += (Sep4 & pan_position)>>12;
!      message += (Sep3 & pan_position)>>8;
!      message += (Sep2 & pan_position)>>4;
!      message += (Sep1 & pan_position);
!     
!      message += (Sep4 & tilt_position)>>12;
!      message += (Sep3 & tilt_position)>>8;
!      message += (Sep2 & tilt_position)>>4;
!      message += (Sep1 & tilt_position);
!     
!      message += 0xFF;
!     
       // add it to the list
!      Add_message_to_send(message,false);
    }
  
--- 523,564 ----
    {
  
!     //LIMIT PAN & TILT SPEED VALUES
!      pan_speed = max(0,min(pan_speed,24));
!      tilt_speed = max(0,min(tilt_speed,20));    
       pan_position = max(min(pan_position,1700), -1700);
       tilt_position = max(min(tilt_position,425), -725);
  
!      //CREATE VISCA COMMAND
!      ostringstream my_stream;
!      static const unsigned int mask1 = 0x000F;
!      static const unsigned int mask2 = 0x00F0;
!      static const unsigned int mask3 = 0x0F00;
!      static const unsigned int mask4 = 0xF000;
!      //header
!      my_stream << 0x81;
!      my_stream << 0x01;
!      my_stream << 0x06;
!      my_stream << 0x02;
!      //pan & tilt speeds
!      my_stream << std::hex<<((mask2 & pan_speed)>>4);//pan speed
!      my_stream << std::hex<<((mask1 & pan_speed));
! 
!      my_stream << std::hex<<((mask2 & tilt_speed)>>4);//tilt speed
!      my_stream << std::hex<<((mask1 & tilt_speed));
!      //pan & tilt commands
!      my_stream << "0"<<std::hex<<((mask4 & pan_position)>>12); //pan position
!      my_stream << "0"<<std::hex<<((mask3 & pan_position)>>8);
!      my_stream << "0"<<std::hex<<((mask2 & pan_position)>>4);
!      my_stream << "0"<<std::hex<<((mask1 & pan_position));
! 
!      my_stream << "0"<<std::hex<<((mask4 & tilt_position)>>12); //tilt position
!      my_stream << "0"<<std::hex<<((mask3 & tilt_position)>>8);
!      my_stream << "0"<<std::hex<<((mask2 & tilt_position)>>4);
!      my_stream << "0"<<std::hex<<((mask1 & tilt_position));
! 
!      my_stream << "FF\r\n"; //end message
! 
       // add it to the list
!      Add_message_to_send(my_stream.str(),false);
    }