devbrake Class Reference

#include <devbrake.h>

Inheritance diagram for devbrake:

[legend]

List of all members.

Public Member Functions
int	brake_absolute (float position)
int	brake_relative (float position)
int	Close ()
	devbrake (bool train)
float	get_position (void)
int	get_state (float *position, float *potentiometer, float *encoder, float *pressure)
	Get current values of all the important hardware sensors.
int	Open (const char *port_name)
	~devbrake ()
Public Attributes
double	encoder_max
double	encoder_min
double	encoder_range
double	pot_full
double	pot_off
double	pot_range
double	pressure_max
double	pressure_min
double	pressure_range
Private Types
typedef int(devbrake::*	query_method_t )(float *)
Private Member Functions
int	calibrate_brake (void)
void	check_encoder_limits (void)
int	configure_brake (void)
float	enc2pos (int encoder_val)
int	encoder_goto (int enc_delta)
int	pos2enc (float position)
float	pos2pot (float position)
float	pos2press (float position)
float	pot2pos (float pot_volts)
float	press2pos (float pressure_volts)
int	query_amps (float *data)
int	query_cmd (const char *string, char *status, int nbytes)
int	query_encoder (float *data)
int	query_pot (float *data)
int	query_pressure (float *data)
int	query_volts (float *data)
int	read_stable_value (query_method_t query_method, double *status, float epsilon)
int	servo_cmd (const char *string)
void	servo_write_only (const char *string)
Private Attributes
bool	already_configured
bool	apply_on_exit
float	cur_encoder
float	cur_position
float	cur_pot
float	cur_pressure
brake_status_t	cur_status
double	deceleration_limit
double	deceleration_threshold
double	pressure_filter_gain
float	prev_pressure
ArtBrakeModel *	sim
bool	training
bool	use_pressure

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Detailed Description

Definition at line 28 of file devbrake.h.

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Member Typedef Documentation

typedef int(devbrake::* devbrake::query_method_t)(float *) [private]

Definition at line 94 of file devbrake.h.

---

Constructor & Destructor Documentation

devbrake::devbrake

(

bool

train

)

Definition at line 42 of file devbrake.cc.

devbrake::~devbrake

(

)

Definition at line 77 of file devbrake.cc.

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Member Function Documentation

int devbrake::brake_absolute

(

float

position

)

Definition at line 149 of file devbrake.cc.

int devbrake::brake_relative

(

float

position

)

Definition at line 155 of file devbrake.cc.

int devbrake::calibrate_brake

(

void

)

[private]

Definition at line 351 of file devbrake.cc.

void devbrake::check_encoder_limits

(

void

)

[inline, private]

Definition at line 416 of file devbrake.cc.

int devbrake::Close

(

void

)

[virtual]

Reimplemented from Servo.

Definition at line 138 of file devbrake.cc.

int devbrake::configure_brake

(

void

)

[private]

Definition at line 458 of file devbrake.cc.

float devbrake::enc2pos

(

int

encoder_val

)

[inline, private]

Definition at line 114 of file devbrake.h.

int devbrake::encoder_goto

(

int

enc_delta

)

[private]

Definition at line 536 of file devbrake.cc.

float devbrake::get_position

(

void

)

[inline]

Definition at line 43 of file devbrake.h.

int devbrake::get_state	(	float *	position,
		float *	potentiometer,
		float *	encoder,
		float *	pressure
	)

Get current values of all the important hardware sensors.

Definition at line 194 of file devbrake.cc.

int devbrake::Open

(

const char *

port_name

)

[virtual]

Reimplemented from Servo.

Definition at line 83 of file devbrake.cc.

int devbrake::pos2enc

(

float

position

)

[inline, private]

Definition at line 116 of file devbrake.h.

float devbrake::pos2pot

(

float

position

)

[inline, private]

Definition at line 123 of file devbrake.h.

float devbrake::pos2press

(

float

position

)

[inline, private]

Definition at line 129 of file devbrake.h.

float devbrake::pot2pos

(

float

pot_volts

)

[inline, private]

Definition at line 121 of file devbrake.h.

float devbrake::press2pos

(

float

pressure_volts

)

[inline, private]

Definition at line 127 of file devbrake.h.

int devbrake::query_amps

(

float *

data

)

[private]

Definition at line 212 of file devbrake.cc.

int devbrake::query_cmd	(	const char *	string,
		char *	status,
		int	nbytes
	)			[private]

Definition at line 610 of file devbrake.cc.

int devbrake::query_encoder

(

float *

data

)

[private]

Definition at line 227 of file devbrake.cc.

int devbrake::query_pot

(

float *

data

)

[private]

Definition at line 242 of file devbrake.cc.

int devbrake::query_pressure

(

float *

data

)

[private]

Definition at line 271 of file devbrake.cc.

int devbrake::query_volts

(

float *

data

)

[private]

Definition at line 305 of file devbrake.cc.

int devbrake::read_stable_value	(	query_method_t	query_method,
		double *	status,
		float	epsilon
	)			[private]

Definition at line 724 of file devbrake.cc.

int devbrake::servo_cmd

(

const char *

string

)

[private]

Definition at line 781 of file devbrake.cc.

void devbrake::servo_write_only

(

const char *

string

)

[private]

Definition at line 807 of file devbrake.cc.

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Member Data Documentation

bool devbrake::already_configured [private]

Definition at line 82 of file devbrake.h.

bool devbrake::apply_on_exit [private]

Definition at line 75 of file devbrake.h.

float devbrake::cur_encoder [private]

Definition at line 87 of file devbrake.h.

float devbrake::cur_position [private]

Definition at line 89 of file devbrake.h.

float devbrake::cur_pot [private]

Definition at line 84 of file devbrake.h.

float devbrake::cur_pressure [private]

Definition at line 85 of file devbrake.h.

brake_status_t devbrake::cur_status [private]

Definition at line 83 of file devbrake.h.

double devbrake::deceleration_limit [private]

Definition at line 77 of file devbrake.h.

double devbrake::deceleration_threshold [private]

Definition at line 76 of file devbrake.h.

double devbrake::encoder_max

Definition at line 68 of file devbrake.h.

double devbrake::encoder_min

Definition at line 67 of file devbrake.h.

double devbrake::encoder_range

Definition at line 69 of file devbrake.h.

double devbrake::pot_full

Definition at line 58 of file devbrake.h.

double devbrake::pot_off

Definition at line 57 of file devbrake.h.

double devbrake::pot_range

Definition at line 59 of file devbrake.h.

double devbrake::pressure_filter_gain [private]

Definition at line 78 of file devbrake.h.

double devbrake::pressure_max

Definition at line 63 of file devbrake.h.

double devbrake::pressure_min

Definition at line 62 of file devbrake.h.

double devbrake::pressure_range

Definition at line 64 of file devbrake.h.

float devbrake::prev_pressure [private]

Definition at line 86 of file devbrake.h.

ArtBrakeModel* devbrake::sim [private]

Definition at line 91 of file devbrake.h.

bool devbrake::training [private]

Definition at line 74 of file devbrake.h.

bool devbrake::use_pressure [private]

Definition at line 79 of file devbrake.h.

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The documentation for this class was generated from the following files:

• devbrake.h
• devbrake.cc