C:/Users/albertlr/projects/TarzaNN/TarzaNN/ptuController.h

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#ifndef PTUCONTROLLER_H_INCLUDED
#define PTUCONTROLLER_H_INCLUDED

#include "stdafx.h"
#include "ptu.h"
#include "Network.h"

#include <common.h>

#define CAMRES 0.0421 // define the camera resolution in degrees per pixel

class ptuController {
        friend class SaliencyOutputFeaturePlane;        // necessary so that the output plane can access the ptuController methods

protected:
        // constructor. hostPort is the serial port where the pan-tilt unit is located, and baudRate is the default baud rate for the controller
        // w and h are the width and height of the image in pixels
        ptuController(  char* hostPort = "COM4",
                                        int baudRate = 9600);

        portstream_fd ptUnit;   // portstream object
        float pRes;     // current pan resolution
        float tRes;     // current tilt resolution
        int pPos;       // current horizontal (pan) position
        int tPos;       // current vertical (tilt) position

        // move the camera to fixate on a given set of target coordinates
        void fixate(int targX, int targY);

        //destructor
        ~ptuController();

        
//public:

//private:

};
#endif //PTUCONTROLLER_H_INCLUDED