ElmoCtrl Class Reference

#include <ElmoCtrl.h>

List of all members.

Public Types
enum	{ POS_CTRL, VEL_CTRL }
Public Member Functions
	ElmoCtrl ()
int	evalCanBuffer ()
CANPeakSysUSB *	GetCanCtrl ()
int	getGearPosVelRadS (double *pdAngleGearRad, double *pdVelGearRadS)
double	getJointVelocity ()
int	GetMotionCtrlType ()
bool	Home ()
bool	Init (ElmoCtrlParams *params, bool home=true)
double	MoveJointSpace (double PosRad)
bool	RecoverAfterEmergencyStop ()
int	setGearPosVelRadS (double dPosRad, double dVelRadS)
void	setMaxVelocity (float radpersec)
bool	SetMotionCtrlType (int type)
bool	Stop ()
	~ElmoCtrl ()
Public Attributes
CanDriveHarmonica *	m_Joint
	joint mutexes
enum ElmoCtrl:: { ... }	MOTION_CTRL_TYPE
Private Member Functions
bool	sendNetStartCanOpen (CanItf *canCtrl)
Private Attributes
CanOpenAddress	m_CanAddress
int	m_CanBaseAddress
CANPeakSysUSB *	m_CanCtrl
CanMsg	m_CanMsgRec
int	m_EncIncrPerRevMot
double	m_GearRatio
int	m_HomingDigIn
int	m_HomingDir
double	m_JointOffset
DriveParam *	m_JointParams
double	m_LowerLimit
double	m_MaxVel
int	m_MotionCtrlType
int	m_MotorDirection
pthread_mutex_t	m_Mutex
	joint mutexes
ElmoCtrlParams *	m_Params
	joint velocity mutexes
double	m_UpperLimit

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Detailed Description

Definition at line 171 of file ElmoCtrl.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

POS_CTRL
VEL_CTRL

Definition at line 224 of file ElmoCtrl.h.

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Constructor & Destructor Documentation

ElmoCtrl::ElmoCtrl

(

)

Definition at line 77 of file ElmoCtrl.cpp.

ElmoCtrl::~ElmoCtrl

(

)

Definition at line 87 of file ElmoCtrl.cpp.

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Member Function Documentation

int ElmoCtrl::evalCanBuffer

(

)

Triggers evaluation of the can-buffer.

Definition at line 127 of file ElmoCtrl.cpp.

CANPeakSysUSB* ElmoCtrl::GetCanCtrl

(

)

[inline]

Definition at line 230 of file ElmoCtrl.h.

int ElmoCtrl::getGearPosVelRadS	(	double *	pdAngleGearRad,
		double *	pdVelGearRadS
	)

Gets the position and velocity.

Parameters:

	pdAngleGearRad	joint-position in radian
	pdVelGearRadS	joint-velocity in radian per second

Definition at line 415 of file ElmoCtrl.cpp.

double ElmoCtrl::getJointVelocity

(

)

int ElmoCtrl::GetMotionCtrlType

(

)

Definition at line 410 of file ElmoCtrl.cpp.

bool ElmoCtrl::Home

(

)

Definition at line 97 of file ElmoCtrl.cpp.

bool ElmoCtrl::Init	(	ElmoCtrlParams *	params,
		bool	home = true
	)

Definition at line 163 of file ElmoCtrl.cpp.

double ElmoCtrl::MoveJointSpace

(

double

PosRad

)

bool ElmoCtrl::RecoverAfterEmergencyStop

(

)

Definition at line 147 of file ElmoCtrl.cpp.

bool ElmoCtrl::sendNetStartCanOpen

(

CanItf *

canCtrl

)

[private]

Definition at line 61 of file ElmoCtrl.cpp.

int ElmoCtrl::setGearPosVelRadS	(	double	dPosRad,
		double	dVelRadS
	)

Sets required position and veolocity. Use this function only in position mode.

Definition at line 430 of file ElmoCtrl.cpp.

void ElmoCtrl::setMaxVelocity

(

float

radpersec

)

[inline]

Definition at line 191 of file ElmoCtrl.h.

bool ElmoCtrl::SetMotionCtrlType

(

int

type

)

Definition at line 385 of file ElmoCtrl.cpp.

bool ElmoCtrl::Stop

(

)

Definition at line 454 of file ElmoCtrl.cpp.

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Member Data Documentation

CanOpenAddress ElmoCtrl::m_CanAddress [private]

Definition at line 246 of file ElmoCtrl.h.

int ElmoCtrl::m_CanBaseAddress [private]

Definition at line 245 of file ElmoCtrl.h.

CANPeakSysUSB* ElmoCtrl::m_CanCtrl [private]

Definition at line 248 of file ElmoCtrl.h.

CanMsg ElmoCtrl::m_CanMsgRec [private]

Definition at line 275 of file ElmoCtrl.h.

int ElmoCtrl::m_EncIncrPerRevMot [private]

Definition at line 254 of file ElmoCtrl.h.

double ElmoCtrl::m_GearRatio [private]

Definition at line 256 of file ElmoCtrl.h.

int ElmoCtrl::m_HomingDigIn [private]

Definition at line 253 of file ElmoCtrl.h.

int ElmoCtrl::m_HomingDir [private]

Definition at line 252 of file ElmoCtrl.h.

CanDriveHarmonica* ElmoCtrl::m_Joint

joint mutexes

Definition at line 235 of file ElmoCtrl.h.

double ElmoCtrl::m_JointOffset [private]

Definition at line 260 of file ElmoCtrl.h.

DriveParam* ElmoCtrl::m_JointParams [private]

Definition at line 243 of file ElmoCtrl.h.

double ElmoCtrl::m_LowerLimit [private]

Definition at line 259 of file ElmoCtrl.h.

double ElmoCtrl::m_MaxVel [private]

Definition at line 251 of file ElmoCtrl.h.

int ElmoCtrl::m_MotionCtrlType [private]

Definition at line 241 of file ElmoCtrl.h.

int ElmoCtrl::m_MotorDirection [private]

Definition at line 255 of file ElmoCtrl.h.

pthread_mutex_t ElmoCtrl::m_Mutex [private]

joint mutexes

Definition at line 267 of file ElmoCtrl.h.

ElmoCtrlParams* ElmoCtrl::m_Params [private]

joint velocity mutexes

Thread IDs for PowerCube connection threads Arguments for Powercube connection Threads

Definition at line 274 of file ElmoCtrl.h.

double ElmoCtrl::m_UpperLimit [private]

Definition at line 258 of file ElmoCtrl.h.

enum { ... } ElmoCtrl::MOTION_CTRL_TYPE

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

• ElmoCtrl.h
• ElmoCtrl.cpp