@@ -30,20 +30,12 @@ On the following image is shown a pan&tilt and its controller:
## Disclaimer
Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Author shernand (shernand@iri.upc.edu)
All rights reserved.
Copyright (C) 2009-2019 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
This file is part of Pan&Tilt PTU-D46 driver library
Pan&Tilt PTU-D46 driver library is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
at your option) any later version.
This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
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@@ -74,7 +66,7 @@ This package also requires of the following IRI libraries:
## Compilation and installation
Download this repository and create a build folder inside:
Clone this repository and create a build folder inside:
``` mkdir build ```
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@@ -132,7 +124,7 @@ and it is also necessary to link with the desired libraries by using the followi
There are three examples:
* _test\_ptu\_d46_ where the pan&tilt unit is controlled on absolute angle mode.
* _test\_ptu\_d46\_speed where the pan&tilt unit is controlled on torque mode.
* _test\_ptu\_d46\_speed_ where the pan&tilt unit is controlled on torque mode.
* _test\_sequence_ where the pan&tilt unit is controlled following a trajectory.
