Classes |
| class | Controller |
| | Class encapsulates the motoman controller interface. It also handles higher level functions such as maintining the current motion state. This class is meant to be a Singleton, but that is not explicitly enforced. Only one instance of this object should be instantiated. More...
|
| struct | ctrl_grp_param_t |
| | Structure for storing control-group parameters. More...
|
| struct | sys_param_t |
| | Structure for storing system parameters. More...
|
Enumerations |
| enum | param_func_t {
GP_GETNUMBEROFAXES = 0x01,
GP_GETPULSETORAD = 0x02,
GP_GETFBPULSECORRECTION = 0x04,
GP_GETQTYOFALLOWEDTASKS = 0x08,
GP_GETINTERPOLATIONPERIOD = 0x10,
GP_GETMAXINCPERIPCYCLE = 0x20,
GP_GETGOVFORINCMOTION = 0x40,
GP_GETNUMBEROFAXES = 0x01,
GP_GETPULSETORAD = 0x02,
GP_GETFBPULSECORRECTION = 0x04,
GP_GETQTYOFALLOWEDTASKS = 0x08,
GP_GETINTERPOLATIONPERIOD = 0x10,
GP_GETMAXINCPERIPCYCLE = 0x20,
GP_GETGOVFORINCMOTION = 0x40
} |
| enum | param_func_t {
GP_GETNUMBEROFAXES = 0x01,
GP_GETPULSETORAD = 0x02,
GP_GETFBPULSECORRECTION = 0x04,
GP_GETQTYOFALLOWEDTASKS = 0x08,
GP_GETINTERPOLATIONPERIOD = 0x10,
GP_GETMAXINCPERIPCYCLE = 0x20,
GP_GETGOVFORINCMOTION = 0x40,
GP_GETNUMBEROFAXES = 0x01,
GP_GETPULSETORAD = 0x02,
GP_GETFBPULSECORRECTION = 0x04,
GP_GETQTYOFALLOWEDTASKS = 0x08,
GP_GETINTERPOLATIONPERIOD = 0x10,
GP_GETMAXINCPERIPCYCLE = 0x20,
GP_GETGOVFORINCMOTION = 0x40
} |
Variables |
| ctrl_grp_param_t | ctrl_grp_parameters_ [MAX_CTRL_GROUPS] |
| const int | MAX_CTRL_GROUPS = 8 |
| sys_param_t | sys_parameters_ |