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}