added pan-tilt camera operations

Author: gdimitriu

robot_control_center/robotcontrol.cpp

@@ -80,6 +80,7 @@ void RobotControl::init()
     connect(ui->stopButton, SIGNAL(clicked(bool)), this, SLOT(stop()));
     ui->robotRadioButton->setChecked(true);
     ui->cameraRadioButton->setChecked(false);
+    ui->cameraStep->setText("1");
 
     // power level
     ui->maximumPower->setText("4095");
@@ -252,6 +253,14 @@ void RobotControl::forward()
         sendPowerToRobotIfModified();
         sendOneWay("M1,0#");
     }
+    else if ( ui->cameraRadioButton->isChecked() )
+    {
+        QString message;
+        message.append("Ty");
+        message.append(ui->cameraStep->text());
+        message.append("#");
+        sendOneWay(message);
+    }
     currentButton = ui->forwardButton;
 }
 
@@ -267,6 +276,14 @@ void RobotControl::backward()
         sendPowerToRobotIfModified();
         sendOneWay("M-1,0#");
     }
+    else if ( ui->cameraRadioButton->isChecked() )
+    {
+        QString message;
+        message.append("Ty-");
+        message.append(ui->cameraStep->text());
+        message.append("#");
+        sendOneWay(message);
+    }
     currentButton = ui->backwardButton;
 }
 
@@ -282,6 +299,14 @@ void RobotControl::left()
         sendPowerToRobotIfModified();
         sendOneWay("M0,-1#");
     }
+    else if ( ui->cameraRadioButton->isChecked() )
+    {
+        QString message;
+        message.append("Tx-");
+        message.append(ui->cameraStep->text());
+        message.append("#");
+        sendOneWay(message);
+    }
     currentButton = ui->leftButton;
 }
 
@@ -297,6 +322,14 @@ void RobotControl::right()
         sendPowerToRobotIfModified();
         sendOneWay("M0,1#");
     }
+    else if ( ui->cameraRadioButton->isChecked() )
+    {
+        QString message;
+        message.append("Tx");
+        message.append(ui->cameraStep->text());
+        message.append("#");
+        sendOneWay(message);
+    }
     currentButton = ui->rightButton;
 }
 

robot_control_center/robotcontrol.ui

@@ -563,6 +563,48 @@
      </size>
     </property>
    </widget>
+   <widget class="QLineEdit" name="cameraStep">
+    <property name="geometry">
+     <rect>
+      <x>332</x>
+      <y>546</y>
+      <width>81</width>
+      <height>32</height>
+     </rect>
+    </property>
+    <property name="sizePolicy">
+     <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+      <horstretch>0</horstretch>
+      <verstretch>0</verstretch>
+     </sizepolicy>
+    </property>
+    <property name="maxLength">
+     <number>3</number>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label">
+    <property name="geometry">
+     <rect>
+      <x>332</x>
+      <y>522</y>
+      <width>77</width>
+      <height>18</height>
+     </rect>
+    </property>
+    <property name="sizePolicy">
+     <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
+      <horstretch>0</horstretch>
+      <verstretch>0</verstretch>
+     </sizepolicy>
+    </property>
+    <property name="text">
+     <string>Camera step</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignCenter</set>
+    </property>
+   </widget>
+   <zorder>layoutWidget</zorder>
    <zorder>layoutWidget</zorder>
    <zorder>layoutWidget</zorder>
    <zorder>layoutWidget</zorder>