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Robotics Library
0.6.2
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27 #ifndef _RL_HAL_LEUZERS4_H_
28 #define _RL_HAL_LEUZERS4_H_
69 const ::std::string& device =
"/dev/ttyS0",
71 const ::std::string&
password =
"ROD4LE"
113 uint8_t
crc(
const uint8_t* buf, const ::std::size_t& len)
const;
115 ::std::size_t
recv(uint8_t* buf, const ::std::size_t& len);
117 void send(uint8_t* buf, const ::std::size_t& len);
152 #endif // _RL_HAL_LEUZERS4_H_
void send(uint8_t *buf, const ::std::size_t &len)
Definition: LeuzeRs4.cpp:516
bool far1
Definition: LeuzeRs4.h:125
uint16_t type
Definition: LeuzeRs4.h:147
uint16_t stopIndex
Definition: LeuzeRs4.h:143
void getDistances(::rl::math::Vector &distances) const
Definition: LeuzeRs4.cpp:160
uint8_t data[1099]
Definition: LeuzeRs4.h:121
::std::string password
Definition: LeuzeRs4.h:135
LeuzeRs4(const ::std::string &device="/dev/ttyS0", const BaudRate &baudRate=BAUDRATE_57600BPS, const ::std::string &password="ROD4LE")
Definition: LeuzeRs4.cpp:76
uint8_t crc(const uint8_t *buf, const ::std::size_t &len) const
Definition: LeuzeRs4.cpp:136
virtual ~LeuzeRs4()
Definition: LeuzeRs4.cpp:110
bool near1
Definition: LeuzeRs4.h:131
@ BAUDRATE_115200BPS
115,200 bps.
Definition: LeuzeRs4.h:58
void stop()
Definition: LeuzeRs4.cpp:724
@ BAUDRATE_345600BPS
345,600 bps.
Definition: LeuzeRs4.h:60
BaudRate
Definition: LeuzeRs4.h:46
void open()
Definition: LeuzeRs4.cpp:259
::rl::math::Real getStartAngle() const
Definition: LeuzeRs4.cpp:243
BaudRate getBaudRate() const
Definition: LeuzeRs4.cpp:154
BaudRate baudRate
Definition: LeuzeRs4.h:119
@ BAUDRATE_9600BPS
9,600 bps.
Definition: LeuzeRs4.h:50
::rl::math::Real getStopAngle() const
Definition: LeuzeRs4.cpp:251
::std::size_t getDistancesCount() const
Definition: LeuzeRs4.cpp:211
void reset()
Definition: LeuzeRs4.cpp:479
@ BAUDRATE_19200BPS
19,200 bps.
Definition: LeuzeRs4.h:52
Definition: LeuzeRs4.h:43
bool fn1Fn2
Definition: LeuzeRs4.h:129
::rl::util::Timer timer
Definition: LeuzeRs4.h:145
BaudRate desired
Definition: LeuzeRs4.h:123
Serial * serial
Definition: LeuzeRs4.h:137
bool far2
Definition: LeuzeRs4.h:127
::Eigen::Matrix< Real, ::Eigen::Dynamic, 1 > Vector
Definition: Vector.h:41
void step()
Definition: LeuzeRs4.cpp:701
@ BAUDRATE_57600BPS
57,600 bps.
Definition: LeuzeRs4.h:56
@ BAUDRATE_625000BPS
625,000 bps.
Definition: LeuzeRs4.h:62
::rl::math::Real getResolution() const
Definition: LeuzeRs4.cpp:235
uint16_t stepSize
Definition: LeuzeRs4.h:141
::rl::math::Real getDistancesMaximum(const ::std::size_t &i) const
Definition: LeuzeRs4.cpp:219
double Real
Definition: Real.h:34
void start()
Definition: LeuzeRs4.cpp:695
void close()
Definition: LeuzeRs4.cpp:116
::rl::math::Real getDistancesMinimum(const ::std::size_t &i) const
Definition: LeuzeRs4.cpp:227
bool near2
Definition: LeuzeRs4.h:133
::std::size_t recv(uint8_t *buf, const ::std::size_t &len)
Definition: LeuzeRs4.cpp:364
uint16_t startIndex
Definition: LeuzeRs4.h:139
@ BAUDRATE_38400BPS
38,400 bps.
Definition: LeuzeRs4.h:54
@ BAUDRATE_4800BPS
4,800 bps.
Definition: LeuzeRs4.h:48