#include <YouBotJoint.hpp>

Inheritance diagram for youbot::YouBotJoint:

Public Member Functions
virtual void	getConfigurationParameter (YouBotJointParameterReadOnly &parameter)
virtual void	getConfigurationParameter (YouBotJointParameter &parameter)
virtual void	getConfigurationParameter (JointName &parameter)
virtual void	getConfigurationParameter (GearRatio &parameter)
virtual void	getConfigurationParameter (EncoderTicksPerRound &parameter)
virtual void	getConfigurationParameter (InverseMovementDirection &parameter)
virtual void	getConfigurationParameter (JointLimits &parameter)
virtual void	getConfigurationParameter (JointLimitsRadian &parameter)
virtual void	getConfigurationParameter (FirmwareVersion &parameter)
virtual void	getConfigurationParameter (YouBotSlaveMailboxMsg &parameter)
	this method should be only used if you know what you are doing
virtual void	getConfigurationParameter (TorqueConstant &parameter)
virtual void	getData (JointSensedAngle &data)
virtual void	getData (JointSensedVelocity &data)
virtual void	getData (JointSensedRoundsPerMinute &data)
virtual void	getData (JointSensedCurrent &data)
virtual void	getData (JointSensedEncoderTicks &data)
virtual void	getData (YouBotSlaveMsg &data)
virtual void	getData (JointSensedTorque &data)
virtual void	getData (JointAngleSetpoint &data)
virtual void	getData (JointVelocitySetpoint &data)
virtual void	getData (JointCurrentSetpoint &data)
virtual void	getData (JointRampGeneratorVelocity &data)
unsigned int	getJointNumber ()
virtual void	getStatus (std::vector< std::string > &statusMessages)
	Returns the status messages for the motor controller.
virtual void	getStatus (unsigned int &statusFlags)
void	getUserVariable (const unsigned int index, int &data)
void	noMoreAction ()
void	restoreConfigurationParameter (YouBotJointParameter &parameter)
	Restores the joint parameter from the EEPROM.
virtual void	setConfigurationParameter (const YouBotJointParameter &parameter)
virtual void	setConfigurationParameter (const JointName &parameter)
virtual void	setConfigurationParameter (const GearRatio &parameter)
virtual void	setConfigurationParameter (const EncoderTicksPerRound &parameter)
virtual void	setConfigurationParameter (const CalibrateJoint &parameter)
virtual void	setConfigurationParameter (const InverseMovementDirection &parameter)
virtual void	setConfigurationParameter (const JointLimits &parameter)
virtual void	setConfigurationParameter (const InitializeJoint &parameter)
	commutation method for firmware 1.48 and below
virtual void	setConfigurationParameter (const YouBotSlaveMailboxMsg &parameter)
	this method should be only used if you know what you are doing
virtual void	setConfigurationParameter (const TorqueConstant &parameter)
virtual void	setData (const JointAngleSetpoint &data)
virtual void	setData (const JointEncoderSetpoint &data)
virtual void	setData (const JointVelocitySetpoint &data)
virtual void	setData (const JointRoundsPerMinuteSetpoint &data)
virtual void	setData (const JointCurrentSetpoint &data)
virtual void	setData (const SlaveMessageOutput &data)
virtual void	setData (const JointTorqueSetpoint &data)
void	setEncoderToZero ()
	set the encoder values of the joint to zero. This postion will be the new reference.
void	setUserVariable (const unsigned int index, const int data)
void	stopJoint ()
void	storeConfigurationParameterPermanent (const YouBotJointParameter &parameter)
	YouBotJoint (const unsigned int jointNo, const std::string &configFilePath)
	~YouBotJoint ()
Public Attributes
JointTrajectoryController	trajectoryController
Protected Member Functions
virtual void	getConfigurationParameter (JointParameter &parameter)
virtual void	getData (JointData &data)
virtual void	setConfigurationParameter (const JointParameter &parameter)
virtual void	setData (const JointDataSetpoint &data)
Private Member Functions
YouBotJoint &	operator= (const YouBotJoint &source)
void	parseMailboxStatusFlags (const YouBotSlaveMailboxMsg &mailboxMsg)
void	parseYouBotErrorFlags (const YouBotSlaveMsg &messageBuffer)
bool	retrieveValueFromMotorContoller (YouBotSlaveMailboxMsg &message)
bool	setValueToMotorContoller (const YouBotSlaveMailboxMsg &mailboxMsg)
	YouBotJoint (const YouBotJoint &source)
Private Attributes
EthercatMasterInterface *	ethercatMaster
quantity< plane_angle >	lastPosition
quantity< si::angular_velocity >	lastVelocity
boost::scoped_ptr < JointLimitMonitor >	limitMonitor
unsigned int	mailboxMsgRetries
YouBotSlaveMsg	messageBuffer
bool	positionReferenceToZero
YouBotJointStorage	storage
unsigned int	timeTillNextMailboxUpdate

Detailed Description

youBot joint for the base and the manipulator. Every motor, encoder, transmition combination of the youBot base or manipulator is a YouBotJoint

Definition at line 85 of file YouBotJoint.hpp.

Constructor & Destructor Documentation

youbot::YouBotJoint::YouBotJoint	(	const unsigned int	jointNo,
		const std::string &	configFilePath
	)

Definition at line 55 of file YouBotJoint.cpp.

youbot::YouBotJoint::~YouBotJoint ( )

Definition at line 73 of file YouBotJoint.cpp.

youbot::YouBotJoint::YouBotJoint ( const YouBotJoint & source ) [private]

Member Function Documentation

void youbot::YouBotJoint::getConfigurationParameter ( JointParameter & parameter ) [protected, virtual]

Implements youbot::Joint.

Definition at line 86 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( YouBotJointParameterReadOnly & parameter ) [virtual]

Definition at line 93 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( YouBotJointParameter & parameter ) [virtual]

Definition at line 122 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( JointName & parameter ) [virtual]

Definition at line 174 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( GearRatio & parameter ) [virtual]

Definition at line 188 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( EncoderTicksPerRound & parameter ) [virtual]

Definition at line 206 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( InverseMovementDirection & parameter ) [virtual]

Definition at line 298 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( JointLimits & parameter ) [virtual]

Definition at line 331 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( JointLimitsRadian & parameter ) [virtual]

Definition at line 338 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( FirmwareVersion & parameter ) [virtual]

Definition at line 363 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( YouBotSlaveMailboxMsg & parameter ) [virtual]

this method should be only used if you know what you are doing

Definition at line 434 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getConfigurationParameter ( TorqueConstant & parameter ) [virtual]

Definition at line 445 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointData & data ) [protected, virtual]

Implements youbot::Joint.

Definition at line 519 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedAngle & data ) [virtual]

gets the position or angle of one joint which have been calculated from the actual encoder value

Parameters:

data	returns the angle by reference

Definition at line 599 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedVelocity & data ) [virtual]

gets the velocity of one joint

Parameters:

data	returns the velocity by reference

Definition at line 665 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedRoundsPerMinute & data ) [virtual]

gets the velocity in round per minute of one joint

Parameters:

data	returns the velocity by reference

Definition at line 694 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedCurrent & data ) [virtual]

gets the motor current of one joint which have been measured by a hal sensor

Parameters:

data	returns the actual motor current by reference

Definition at line 743 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedEncoderTicks & data ) [virtual]

gets the encoder ticks of one joint

Parameters:

data	returns the ticks by reference

Definition at line 792 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( YouBotSlaveMsg & data ) [virtual]

gets the input and ouput part of a EtherCAT slave message this methode should be only used if you know what you are doing

Parameters:

data	returns the sensor values by reference

Definition at line 839 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointSensedTorque & data ) [virtual]

gets the motor torque of one joint which have been calculated from the current

Parameters:

data	returns the actual motor torque by reference

Definition at line 879 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointAngleSetpoint & data ) [virtual]

gets the target or setpoint position of one joint (only firmware 2.0 or higher)

Parameters:

data	returns the angle by reference

Definition at line 901 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointVelocitySetpoint & data ) [virtual]

gets the target or setpoint velocity of one joint (only firmware 2.0 or higher)

Parameters:

data	returns the velocity by reference

Definition at line 934 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointCurrentSetpoint & data ) [virtual]

gets the motor current target or setpoint of one joint (only firmware 2.0 or higher)

Parameters:

data	returns the motor current by reference

Definition at line 963 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getData ( JointRampGeneratorVelocity & data ) [virtual]

gets the ramp generator velocity of one joint (only firmware 2.0 or higher)

Parameters:

data	returns the velocity by reference

Definition at line 987 of file YouBotJoint.cpp.

unsigned int youbot::YouBotJoint::getJointNumber ( )

Definition at line 1249 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getStatus ( std::vector< std::string > & statusMessages ) [virtual]

Returns the status messages for the motor controller.

Definition at line 1065 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getStatus ( unsigned int & statusFlags ) [virtual]

Returns the status messages as status flags for the motor controller. The status flag bits are assigned like this: 0: Overcurrent 1: Undervoltage 2: Overvoltage 3: Overtemperature 4: Motor halted 5: Hall error flag 6: --- 7: --- 8: PWM mode active 9: Velocity mode active 10: Position mode active 11: Torque mode active 12: --- 13: --- 14: Position end flag 15: Module initialized 16: EtherCAT timeout flag 17: I2t exceeded flag

Definition at line 1178 of file YouBotJoint.cpp.

void youbot::YouBotJoint::getUserVariable	(	const unsigned int	index,
		int &	data
	)

Definition at line 1014 of file YouBotJoint.cpp.

void youbot::YouBotJoint::noMoreAction ( )

Definition at line 1217 of file YouBotJoint.cpp.

YouBotJoint& youbot::YouBotJoint::operator= ( const YouBotJoint & source ) [private]

void youbot::YouBotJoint::parseMailboxStatusFlags ( const YouBotSlaveMailboxMsg & mailboxMsg ) [private]

Definition at line 1366 of file YouBotJoint.cpp.

void youbot::YouBotJoint::parseYouBotErrorFlags ( const YouBotSlaveMsg & messageBuffer ) [private]

Definition at line 1256 of file YouBotJoint.cpp.

void youbot::YouBotJoint::restoreConfigurationParameter ( YouBotJointParameter & parameter )

Restores the joint parameter from the EEPROM.

Definition at line 487 of file YouBotJoint.cpp.

bool youbot::YouBotJoint::retrieveValueFromMotorContoller ( YouBotSlaveMailboxMsg & message ) [private]

Definition at line 1408 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const JointParameter & parameter ) [protected, virtual]

Implements youbot::Joint.

Definition at line 79 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const YouBotJointParameter & parameter ) [virtual]

Definition at line 150 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const JointName & parameter ) [virtual]

Definition at line 181 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const GearRatio & parameter ) [virtual]

Definition at line 195 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const EncoderTicksPerRound & parameter ) [virtual]

Definition at line 213 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const CalibrateJoint & parameter ) [virtual]

Definition at line 224 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const InverseMovementDirection & parameter ) [virtual]

Definition at line 291 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const JointLimits & parameter ) [virtual]

Definition at line 305 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const InitializeJoint & parameter ) [virtual]

commutation method for firmware 1.48 and below

Definition at line 350 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const YouBotSlaveMailboxMsg & parameter ) [virtual]

this method should be only used if you know what you are doing

Definition at line 423 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setConfigurationParameter ( const TorqueConstant & parameter ) [virtual]

Definition at line 452 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointDataSetpoint & data ) [protected, virtual]

Implements youbot::Joint.

Definition at line 512 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointAngleSetpoint & data ) [virtual]

commands a position or angle to one joint

Parameters:

data	the to command position

Definition at line 528 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointEncoderSetpoint & data ) [virtual]

commands a encoder value (position) to one joint

Parameters:

data	the to command encoder value

Definition at line 569 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointVelocitySetpoint & data ) [virtual]

commands a velocity to one joint

Parameters:

data	the to command velocity

Definition at line 632 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointRoundsPerMinuteSetpoint & data ) [virtual]

sets the velocity in round per minute to one joint

Parameters:

data	the setpoint velocity

Definition at line 717 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointCurrentSetpoint & data ) [virtual]

commands a current to one joint

Parameters:

data	the to command current

Definition at line 767 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const SlaveMessageOutput & data ) [virtual]

sets the output part of a EtherCAT slave message this methode should be only used if you know what you are doing

Parameters:

data	output part of a EtherCAT slave message

Definition at line 818 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setData ( const JointTorqueSetpoint & data ) [virtual]

commands a torque to one joint

Parameters:

data	the to command torque

Definition at line 857 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setEncoderToZero ( )

set the encoder values of the joint to zero. This postion will be the new reference.

Definition at line 1189 of file YouBotJoint.cpp.

void youbot::YouBotJoint::setUserVariable	(	const unsigned int	index,
		const int	data
	)

Definition at line 1040 of file YouBotJoint.cpp.

bool youbot::YouBotJoint::setValueToMotorContoller ( const YouBotSlaveMailboxMsg & mailboxMsg ) [private]

Definition at line 1452 of file YouBotJoint.cpp.

void youbot::YouBotJoint::stopJoint ( )

Definition at line 1233 of file YouBotJoint.cpp.

void youbot::YouBotJoint::storeConfigurationParameterPermanent ( const YouBotJointParameter & parameter )

stores the joint parameter permanent in the EEPROM of the motor contoller Attentions: The EEPROM has only a finite number of program-erase cycles

Definition at line 461 of file YouBotJoint.cpp.

Member Data Documentation

EthercatMasterInterface* youbot::YouBotJoint::ethercatMaster [private]

Definition at line 285 of file YouBotJoint.hpp.

quantity<plane_angle> youbot::YouBotJoint::lastPosition [private]

Definition at line 299 of file YouBotJoint.hpp.

quantity<si::angular_velocity> youbot::YouBotJoint::lastVelocity [private]

Definition at line 297 of file YouBotJoint.hpp.

boost::scoped_ptr<JointLimitMonitor> youbot::YouBotJoint::limitMonitor [private]

Definition at line 301 of file YouBotJoint.hpp.

unsigned int youbot::YouBotJoint::mailboxMsgRetries [private]

Definition at line 291 of file YouBotJoint.hpp.

YouBotSlaveMsg youbot::YouBotJoint::messageBuffer [private]

Definition at line 295 of file YouBotJoint.hpp.

bool youbot::YouBotJoint::positionReferenceToZero [private]

Definition at line 287 of file YouBotJoint.hpp.

YouBotJointStorage youbot::YouBotJoint::storage [private]

Definition at line 293 of file YouBotJoint.hpp.

unsigned int youbot::YouBotJoint::timeTillNextMailboxUpdate [private]

Definition at line 289 of file YouBotJoint.hpp.

JointTrajectoryController youbot::YouBotJoint::trajectoryController

Definition at line 282 of file YouBotJoint.hpp.

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

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation