#include <AxisInterface.hpp>
Public Member Functions | |
| AxisInterface () | |
| virtual std::vector< std::string > | counterList () const =0 |
| Retrieve a list of the counter from the Axis. | |
| virtual bool | drive (double v)=0 |
| Drive a certain 'physical unit' (eg velocity, torque,...). | |
| virtual DigitalOutput * | getBrake ()=0 |
| Get the brake signal of the Axis as a DigitalOutput. | |
| virtual SensorInterface< int > * | getCounter (const std::string &name) const =0 |
| Retrieve a counter from the Axis. | |
| virtual double | getDriveValue () const =0 |
| Get the drive value (eg velocity, torque,...). | |
| virtual DigitalOutput * | getEnable ()=0 |
| Get the enable signal of the Axis as a DigitalOutput. | |
| virtual SensorInterface< double > * | getSensor (const std::string &name) const =0 |
| Retrieve a sensor from the Axis. | |
| virtual DigitalInput * | getSwitch (const std::string &name) const =0 |
| Retrieve a switch (digital input) from the Axis. | |
| virtual bool | isDriven () const =0 |
| Return true if the drive is enabled, and brakes are off. | |
| virtual bool | isLocked () const =0 |
| Return true if the drive is disabled, and brakes are on. | |
| virtual bool | isStopped () const =0 |
| Return true if the drive is enabled but not moving, and brakes are off. | |
| virtual bool | lock ()=0 |
| Lock the Axis (mechanically), brakes enabled, drive disabled. | |
| virtual std::vector< std::string > | sensorList () const =0 |
| Retrieve a list of the sensor from the Axis. | |
| virtual bool | stop ()=0 |
| Stop the Axis (electronically), brakes disabled, drive enabled and set to zero. | |
| virtual std::vector< std::string > | switchList () const =0 |
| Retrieve a list of the digital input switches from the Axis. | |
| virtual bool | unlock ()=0 |
| Unlock the Axis (mechanically), brakes enabled, drive enabled. | |
| virtual | ~AxisInterface () |
The AxisInterface represents an axis from a control point of view
Definition at line 45 of file AxisInterface.hpp.
| RTT::dev::AxisInterface::AxisInterface | ( | ) | [inline] |
Definition at line 49 of file AxisInterface.hpp.
| virtual RTT::dev::AxisInterface::~AxisInterface | ( | ) | [inline, virtual] |
Definition at line 50 of file AxisInterface.hpp.
| virtual std::vector<std::string> RTT::dev::AxisInterface::counterList | ( | ) | const [pure virtual] |
Retrieve a list of the counter from the Axis.
| virtual bool RTT::dev::AxisInterface::drive | ( | double | v | ) | [pure virtual] |
Drive a certain 'physical unit' (eg velocity, torque,...).
| virtual DigitalOutput* RTT::dev::AxisInterface::getBrake | ( | ) | [pure virtual] |
Get the brake signal of the Axis as a DigitalOutput.
| virtual SensorInterface<int>* RTT::dev::AxisInterface::getCounter | ( | const std::string & | name | ) | const [pure virtual] |
Retrieve a counter from the Axis.
| virtual double RTT::dev::AxisInterface::getDriveValue | ( | ) | const [pure virtual] |
Get the drive value (eg velocity, torque,...).
| virtual DigitalOutput* RTT::dev::AxisInterface::getEnable | ( | ) | [pure virtual] |
Get the enable signal of the Axis as a DigitalOutput.
| virtual SensorInterface<double>* RTT::dev::AxisInterface::getSensor | ( | const std::string & | name | ) | const [pure virtual] |
Retrieve a sensor from the Axis.
| virtual DigitalInput* RTT::dev::AxisInterface::getSwitch | ( | const std::string & | name | ) | const [pure virtual] |
Retrieve a switch (digital input) from the Axis.
| virtual bool RTT::dev::AxisInterface::isDriven | ( | ) | const [pure virtual] |
Return true if the drive is enabled, and brakes are off.
| virtual bool RTT::dev::AxisInterface::isLocked | ( | ) | const [pure virtual] |
Return true if the drive is disabled, and brakes are on.
| virtual bool RTT::dev::AxisInterface::isStopped | ( | ) | const [pure virtual] |
Return true if the drive is enabled but not moving, and brakes are off.
| virtual bool RTT::dev::AxisInterface::lock | ( | ) | [pure virtual] |
Lock the Axis (mechanically), brakes enabled, drive disabled.
| virtual std::vector<std::string> RTT::dev::AxisInterface::sensorList | ( | ) | const [pure virtual] |
Retrieve a list of the sensor from the Axis.
| virtual bool RTT::dev::AxisInterface::stop | ( | ) | [pure virtual] |
Stop the Axis (electronically), brakes disabled, drive enabled and set to zero.
| virtual std::vector<std::string> RTT::dev::AxisInterface::switchList | ( | ) | const [pure virtual] |
Retrieve a list of the digital input switches from the Axis.
| virtual bool RTT::dev::AxisInterface::unlock | ( | ) | [pure virtual] |
Unlock the Axis (mechanically), brakes enabled, drive enabled.