#include <Camera.h>

Inheritance diagram for Camera:

Public Member Functions
	Camera ()

virtual	~Camera ()

virtual void	ComponentInit ()

virtual void	Sense ()

virtual void	DoWork ()

Public Member Functions inherited from RobotComponent
	RobotComponent ()

virtual	~RobotComponent ()

Private Attributes
Joystick *	m_Stick
	joystick controller More...

Servo *	m_Camera
	camera servo instance More...

float	m_CameraServoPosition
	current camera servo position More...

uint32_t	m_CameraMove
	command value received More...

Detailed Description

The Camera RobotComponent provides control of the camera servo.

No functioning of the camera itself is controlled by this component.

Buttons 3 and 4 on the Auxiliary controller are mapped to servo up and down, respetively.

Upon initialization, the camera is moved to its starting position, defined by kCameraFirstPos.

Range of motion is contained between kMaxCameraServoPosition and temp=kMinCameraServoPosition.

Definition at line 29 of file Camera.h.

Constructor & Destructor Documentation

Camera::Camera ( )

Definition at line 13 of file Camera.cpp.

References m_Camera, m_CameraMove, m_CameraServoPosition, and m_Stick.

Camera::~Camera ( )

virtual

Definition at line 21 of file Camera.cpp.

References m_Camera, and m_Stick.

Member Function Documentation

void Camera::ComponentInit ( )

virtual

Called once, to perform initialization that isn't appropriate for constructor.

Camera servo is moved to its starting position, kCameraFirstPos.

Reimplemented from RobotComponent.

Definition at line 30 of file Camera.cpp.

References kStickChannel, m_Camera, m_CameraServoPosition, and m_Stick.

Referenced by Robot::RobotInit().

void Camera::DoWork ( )

virtual

Component-specific worker function. Move camera servo according to last info from Sense(). Range of motion is contained between kMaxCameraServoPosition and temp=kMinCameraServoPosition. Report operation to SmartDashboard.

Reimplemented from RobotComponent.

Definition at line 57 of file Camera.cpp.

References m_Camera, m_CameraMove, and m_CameraServoPosition.

Referenced by Robot::TeleopPeriodic().

void Camera::Sense ( )

virtual

Component-specific sensory input collector. Joystick buttons are read, and stored for use by DoWork().

Reimplemented from RobotComponent.

Definition at line 44 of file Camera.cpp.

References m_CameraMove, and m_Stick.

Referenced by Robot::TeleopPeriodic().