Public Member Functions | Public Attributes | Private Types | Private Member Functions | Private Attributes
devbrake Class Reference

#include <devbrake.h>

Inheritance diagram for devbrake:
Inheritance graph
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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
ArtBrakeModelsim
bool training
bool use_pressure

Detailed Description

Definition at line 28 of file devbrake.h.


Member Typedef Documentation

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

Definition at line 94 of file devbrake.h.


Constructor & Destructor Documentation

Definition at line 42 of file devbrake.cc.

Definition at line 77 of file devbrake.cc.


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.


Member Data Documentation

Definition at line 82 of file devbrake.h.

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.

Definition at line 83 of file devbrake.h.

double devbrake::deceleration_limit [private]

Definition at line 77 of file devbrake.h.

Definition at line 76 of file devbrake.h.

Definition at line 68 of file devbrake.h.

Definition at line 67 of file devbrake.h.

Definition at line 69 of file devbrake.h.

Definition at line 58 of file devbrake.h.

Definition at line 57 of file devbrake.h.

Definition at line 59 of file devbrake.h.

Definition at line 78 of file devbrake.h.

Definition at line 63 of file devbrake.h.

Definition at line 62 of file devbrake.h.

Definition at line 64 of file devbrake.h.

float devbrake::prev_pressure [private]

Definition at line 86 of file devbrake.h.

Definition at line 91 of file devbrake.h.

Definition at line 74 of file devbrake.h.

Definition at line 79 of file devbrake.h.


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


art_servo
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Jan 3 2014 11:09:12