SchunkProtocolArm Class Reference

#include <SchunkProtocolArm.h>

Inheritance diagram for SchunkProtocolArm:

List of all members.

Public Member Functions
virtual int	ackJoint (IDType id)
virtual int	emergencyStopJoint (IDType id)
const SCHUNKMotionManipulator &	getManipulator () const
virtual float	getMaxCurrent (IDType id)
virtual void	getModuleStatus (int module_id, uint8_t &referenced, uint8_t &moving, uint8_t &progMode, uint8_t &warning, uint8_t &error, uint8_t &brake, uint8_t &moveEnd, uint8_t &posReached, uint8_t &errorCode, float &current)
virtual float	getPosition (IDType id)
virtual float	getVelocity (IDType id)
virtual void	init ()
virtual int	movePosition (IDType id, float position)
virtual int	movePositionDuration (IDType id, float position, uint16_t msecs)
virtual int	moveVelocity (IDType id, float velocity)
virtual int	normalStopJoint (IDType id)
virtual int	refJoint (IDType id)
	SchunkProtocolArm (IDType id_offset=100)
virtual int	setAcceleration (IDType id, float acceleration)
virtual int	setCurrent (IDType id, float current)
virtual int	setVelocity (IDType id, float velocity)
Protected Attributes
SCHUNKMotionManipulator	manipulator_

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Detailed Description

Definition at line 24 of file SchunkProtocolArm.h.

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Constructor & Destructor Documentation

SchunkProtocolArm::SchunkProtocolArm

(

IDType

id_offset = 100

)

[inline]

Definition at line 26 of file SchunkProtocolArm.h.

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Member Function Documentation

virtual int SchunkProtocolArm::ackJoint

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Reimplemented in PowerCubeArmUUISRC.

Definition at line 50 of file SchunkProtocolArm.h.

virtual int SchunkProtocolArm::emergencyStopJoint

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Reimplemented in PowerCubeArmUUISRC.

Definition at line 41 of file SchunkProtocolArm.h.

const SCHUNKMotionManipulator& SchunkProtocolArm::getManipulator

(

)

const [inline]

Definition at line 111 of file SchunkProtocolArm.h.

virtual float SchunkProtocolArm::getMaxCurrent

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Definition at line 65 of file SchunkProtocolArm.h.

virtual void SchunkProtocolArm::getModuleStatus	(	int	module_id,
		uint8_t &	referenced,
		uint8_t &	moving,
		uint8_t &	progMode,
		uint8_t &	warning,
		uint8_t &	error,
		uint8_t &	brake,
		uint8_t &	moveEnd,
		uint8_t &	posReached,
		uint8_t &	errorCode,
		float &	current
	)		[inline, virtual]

Implements RobotArm.

Definition at line 93 of file SchunkProtocolArm.h.

virtual float SchunkProtocolArm::getPosition

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Definition at line 59 of file SchunkProtocolArm.h.

virtual float SchunkProtocolArm::getVelocity

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Definition at line 62 of file SchunkProtocolArm.h.

virtual void SchunkProtocolArm::init

(

)

[inline, virtual]

Implements RobotArm.

Reimplemented in PowerCubeArmUUISRC.

Definition at line 29 of file SchunkProtocolArm.h.

virtual int SchunkProtocolArm::movePosition	(	IDType	id,
		float	position
	)		[inline, virtual]

Implements RobotArm.

Definition at line 81 of file SchunkProtocolArm.h.

virtual int SchunkProtocolArm::movePositionDuration	(	IDType	id,
		float	position,
		uint16_t	msecs
	)		[inline, virtual]

Implements RobotArm.

Definition at line 84 of file SchunkProtocolArm.h.

virtual int SchunkProtocolArm::moveVelocity	(	IDType	id,
		float	velocity
	)		[inline, virtual]

Implements RobotArm.

Definition at line 87 of file SchunkProtocolArm.h.

virtual int SchunkProtocolArm::normalStopJoint

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Definition at line 46 of file SchunkProtocolArm.h.

virtual int SchunkProtocolArm::refJoint

(

IDType

id

)

[inline, virtual]

Implements RobotArm.

Reimplemented in PowerCubeArmUUISRC.

Definition at line 54 of file SchunkProtocolArm.h.

virtual int SchunkProtocolArm::setAcceleration	(	IDType	id,
		float	acceleration
	)		[inline, virtual]

Implements RobotArm.

Definition at line 73 of file SchunkProtocolArm.h.

virtual int SchunkProtocolArm::setCurrent	(	IDType	id,
		float	current
	)		[inline, virtual]

Implements RobotArm.

Definition at line 76 of file SchunkProtocolArm.h.

virtual int SchunkProtocolArm::setVelocity	(	IDType	id,
		float	velocity
	)		[inline, virtual]

Implements RobotArm.

Definition at line 70 of file SchunkProtocolArm.h.

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Member Data Documentation

SCHUNKMotionManipulator SchunkProtocolArm::manipulator_ [protected]

Definition at line 116 of file SchunkProtocolArm.h.

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

• SchunkProtocolArm.h