int main()
{
CPtuBase* ptu = new CTuMicos();
string port, c;
float auxF1, auxF2;
double auxD1, auxD2, auxD3;
// Obtains serial port to connect
cout << "<Pan & Tilt Unit test application>" << endl;
cout << "Enter the serial port name (e.g. COM1, ttyS0, ttyUSB0): ";
getline(cin, port);
// Ptu initialization
if (!ptu->init(port)) cout << endl << "[INFO] Initialitation error";
showMenu();
cout << endl << endl << ">> Command: ";
cin >> c;
while (c != "quit")
{
if (c == "ma")
{
cout << endl << "Enter absolute position to move: ";
cin >> auxF1;
auxF2 = DEG2RAD(auxF1);
ptu->moveToAbsPos(0, auxF2);
}
else if (c == "mr")
int main(){
CPtuBase *ptu = new CPtuDPerception();
string port;
int tWait;
float initial, final, initialRad, finalRad;
double graPre,radPre;
char c,axis;
// Obtains serial port to connect
cout << "<Pan & Tilt Unit test application>" << endl;
cout << "Enter the serial port name (e.g. COM1, ttyS0, ttyUSB0): ";
getline(cin,port);
// Ptu initialization
if(!ptu->init(port))
cout << endl << "[INFO] Initialitation error";
showMenu();
cout << ">> Command: ";
cin >> c;
while (c!='q'){
switch(c){
// Discreet scan
case 's':
// Get parameters for performs a scan
cout << endl << "Enter axis to scan (T for Till or P for Pan): ";
cin >> axis;
cout << endl << "Enter wait time between steps (in milliseconds): ";
cin >> tWait;
cout << endl << "Enter initial position: ";
cin >> initial;
cout << endl << "Enter final position: ";
cin >> final;
cout << endl << "Enter precision degrees: ";
cin >> graPre;
// Performs a scan
initialRad = DEG2RAD(initial);
finalRad = DEG2RAD(final);
radPre = DEG2RAD(graPre);
ptu->scan(axis,tWait,initialRad,finalRad,radPre);
break;
// PTU config information
case 'i':
showInfo(ptu);
break;
// Help
case 'h':
showMenu();
break;
// Incorrect command
default:
printf("\n Incorrect command \n");
break;
}
cout << "\n";
cout << ">> Command: ";
cin >> c;
}
return 0;
}
