001/**
002 * Copyright (c) 2011, The University of Southampton and the individual contributors.
003 * All rights reserved.
004 *
005 * Redistribution and use in source and binary forms, with or without modification,
006 * are permitted provided that the following conditions are met:
007 *
008 *   *  Redistributions of source code must retain the above copyright notice,
009 *      this list of conditions and the following disclaimer.
010 *
011 *   *  Redistributions in binary form must reproduce the above copyright notice,
012 *      this list of conditions and the following disclaimer in the documentation
013 *      and/or other materials provided with the distribution.
014 *
015 *   *  Neither the name of the University of Southampton nor the names of its
016 *      contributors may be used to endorse or promote products derived from this
017 *      software without specific prior written permission.
018 *
019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
020 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
021 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
022 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
023 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
024 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
025 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
026 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
027 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
028 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
029 */
030package org.openimaj.demos.servotrack;
031
032import jssc.SerialPort;
033
034import org.openimaj.hardware.serial.SerialDevice;
035
036public class PTServoController {
037        private SerialDevice device;
038        private int currentTilt = 90;
039        private int currentPan = 90;
040
041        public PTServoController(String dev) throws Exception {
042                device = new SerialDevice(dev, 9600, SerialPort.DATABITS_8,
043                                SerialPort.STOPBITS_1, SerialPort.PARITY_NONE);
044
045                this.setPan(currentPan);
046                this.setTilt(currentTilt);
047        }
048
049        public void setTilt(int angle) {
050                if (angle > 0 && angle < 180) {
051                        currentTilt = angle;
052                        sendCommand("t", currentTilt);
053                }
054        }
055
056        public void setPan(int angle) {
057                if (angle > 0 && angle < 180) {
058                        currentPan = angle;
059                        sendCommand("p", currentPan);
060                }
061        }
062
063        public void changePanBy(int angle) {
064                setPan(angle + currentPan);
065        }
066
067        public void changeTiltBy(int angle) {
068                setTilt(angle + currentTilt);
069        }
070
071        public int getTilt() {
072                return currentTilt;
073        }
074
075        public int getPan() {
076                return currentPan;
077        }
078
079        private void sendCommand(String servo, int angle) {
080                try {
081                        device.getOutputStream().write((servo + " " + angle + "\n").getBytes("US-ASCII"));
082                        Thread.sleep(60);
083                } catch (final Exception e) {
084                        throw new RuntimeException(e);
085                }
086        }
087
088        public static void main(String[] args) throws Exception {
089                final PTServoController controller = new PTServoController("/dev/tty.usbmodemfd121");
090
091                for (int i = 0; i < 100; i++) {
092                        controller.setPan(i);
093                        controller.setTilt(60 + i);
094                }
095
096                System.exit(0);
097        }
098}