Classes | Typedefs | Enumerations | Functions | Variables
youbot Namespace Reference

Classes

class  ActivateOvervoltageProtection
class  ActualAcceleration
class  ActualCommutationOffset
class  ActualLoadValue
class  ActualModuleSupplyCurrent
class  ActualMotorDriverTemperature
class  ActualMotorVoltage
class  ActualPosition
class  ActualVelocity
class  ApproveProtectedParameters
class  BarSpacingOffset
class  BaseKinematic
class  BEMFConstant
class  CalibrateGripper
class  CalibrateJoint
class  ChopperBlankTime
class  ChopperHysteresisDecrement
class  ChopperHysteresisEnd
class  ChopperHysteresisStart
class  ChopperMode
class  ChopperOffTime
class  ClearI2tExceededFlag
class  ClearMotorControllerTimeoutFlag
class  CommutationMode
class  CommutationMotorCurrent
class  ConfigFile
class  CurrentControlLoopDelay
class  CurrentError
class  CurrentErrorSum
class  DataObjectLockFree
 This DataObject is a Lock-Free implementation, such that reads and writes can happen concurrently without priority inversions. More...
class  DataTrace
class  DoubleStepEnable
class  DParameterCurrentControl
class  DParameterFirstParametersPositionControl
class  DParameterFirstParametersSpeedControl
class  DParameterSecondParametersPositionControl
class  DParameterSecondParametersSpeedControl
class  DParameterTrajectoryControl
class  EncoderResolution
class  EncoderStopSwitch
class  EncoderTicksPerRound
class  ErrorAndStatus
class  ErrorFlags
class  EtherCATConnectionException
 EtherCAT Connection Error. More...
class  EthercatMaster
class  EthercatMasterInterface
class  EthercatMasterWithoutThread
class  EthercatMasterWithThread
class  FileNotFoundException
 File not found exception. More...
class  FirmwareVersion
class  FourSwedishWheelOmniBaseKinematic
class  FourSwedishWheelOmniBaseKinematicConfiguration
class  Freewheeling
class  GearRatio
class  Gripper
class  GripperBarEncoderSetpoint
class  GripperBarName
class  GripperBarPositionSetPoint
class  GripperBarSpacingSetPoint
class  GripperData
class  GripperDataTrace
class  GripperFirmwareVersion
class  GripperParameter
class  GripperSensedBarPosition
class  GripperSensedBarSpacing
class  GripperSensedVelocity
class  HallSensorPolarityReversal
class  I2tExceedCounter
class  I2tLimit
class  I2tSum
class  IClippingParameterCurrentControl
class  IClippingParameterFirstParametersPositionControl
class  IClippingParameterFirstParametersSpeedControl
class  IClippingParameterSecondParametersPositionControl
class  IClippingParameterSecondParametersSpeedControl
class  IClippingParameterTrajectoryControl
class  InitializationMode
class  InitializeJoint
class  InitSineDelay
class  InverseMovementDirection
class  IParameterCurrentControl
class  IParameterFirstParametersPositionControl
class  IParameterFirstParametersSpeedControl
class  IParameterSecondParametersPositionControl
class  IParameterSecondParametersSpeedControl
class  IParameterTrajectoryControl
class  Joint
class  JointAngleSetpoint
class  JointComputedData
class  JointComputedSetpoint
class  JointControllerComputedData
class  JointCurrentSetpoint
class  JointData
class  JointDataSetpoint
class  JointEncoderSetpoint
class  JointErrorException
 Joint error exception. More...
class  JointLimitMonitor
class  JointLimits
class  JointLimitsRadian
class  JointName
class  JointParameter
class  JointParameterException
 Joint parameter exception. More...
class  JointPWMSetpoint
class  JointRampGeneratorVelocity
class  JointRoundsPerMinuteSetpoint
class  JointSensedAngle
class  JointSensedCurrent
class  JointSensedData
class  JointSensedEncoderTicks
class  JointSensedPWM
class  JointSensedRoundsPerMinute
class  JointSensedTorque
class  JointSensedVelocity
class  JointTorqueSetpoint
class  JointTrajectory
class  JointTrajectoryController
class  JointVelocitySetpoint
class  KeyNotFoundException
 Key in configuration file not found exception. More...
class  Logger
struct  mailboxInputBuffer
 Input part from the EtherCAT mailbox message of the youBot slaves. More...
struct  mailboxOutputBuffer
 Output part from the EtherCAT mailbox message of the youBot slaves. More...
class  MassInertiaConstant
class  MaxEncoderValue
class  MaximumAcceleration
class  MaximumCurrent
class  MaximumMotorCurrent
class  MaximumPositioningSpeed
class  MaximumPositioningVelocity
class  MaximumVelocityToSetPosition
class  MaxTravelDistance
class  MicrostepResolution
class  MinimumSpeed
class  MotorAcceleration
class  MotorCoilResistance
class  MotorControllerTimeout
class  MotorHaltedVelocity
class  MotorPoles
class  OneDOFGripper
class  OneDOFGripperData
class  OperationalTime
class  Parameter
class  PidController
 A basic pid class. More...
class  PIDControlTime
class  PositionControlSwitchingThreshold
class  PositionError
class  PositionErrorSum
class  PositionSetpoint
class  PositionTargetReachedDistance
class  PowerDownDelay
class  PParameterCurrentControl
class  PParameterFirstParametersPositionControl
class  PParameterFirstParametersSpeedControl
class  PParameterSecondParametersPositionControl
class  PParameterSecondParametersSpeedControl
class  PParameterTrajectoryControl
class  PulseDivisor
class  RampDivisor
class  RampGeneratorSpeed
class  RampGeneratorSpeedAndPositionControl
class  RampMode
class  ReversingEncoderDirection
struct  Segment
 Joint trajectory segment. More...
class  SetEncoderCounterZeroAtNextNChannel
class  SetEncoderCounterZeroAtNextSwitch
class  SetEncoderCounterZeroOnlyOnce
class  ShortDetectionTimer
class  ShortProtectionDisable
class  SineInitializationVelocity
struct  SlaveMessageInput
 Input part from the EtherCat message of the youBot EtherCat slaves. More...
struct  SlaveMessageOutput
 Output part from the EtherCat message of the youBot EtherCat slaves. More...
class  SlopeControlHighSide
class  SlopeControlLowSide
class  SmartEnergyActualCurrent
class  SmartEnergyCurrentDownStep
class  SmartEnergyCurrentMinimum
class  SmartEnergyCurrentUpStep
class  SmartEnergyHysteresis
class  SmartEnergyHysteresisStart
class  SmartEnergySlowRunCurrent
class  SmartEnergyThresholdSpeed
class  SortTreeVector
class  SpeedControlSwitchingThreshold
struct  Spline
class  StallGuard2FilterEnable
class  StallGuard2Threshold
class  StandbyCurrent
class  StepInterpolationEnable
class  StopOnStall
class  StopSwitchPolarity
class  TargetPositionReached
class  ThermalWindingTimeConstant
class  TorqueConstant
struct  TrajectorySegment
class  VelocityError
class  VelocityErrorSum
class  VelocitySetpoint
class  VelocityThresholdForHallFX
class  Vsense
class  WheeledBaseKinematic
class  YouBotApiJointParameter
class  YouBotBase
class  YouBotGripper
class  YouBotGripperBar
class  YouBotGripperParameter
class  YouBotJoint
class  YouBotJointParameter
class  YouBotJointParameterPasswordProtected
class  YouBotJointParameterReadOnly
class  YouBotJointStorage
class  YouBotManipulator
class  YouBotSlaveMailboxMsg
class  YouBotSlaveMailboxMsgThreadSafe
class  YouBotSlaveMsg
class  YouBotSlaveMsgThreadSafe

Typedefs

typedef
boost::units::make_scaled_unit
< si::length,
boost::units::scale
< 10, boost::units::static_rational
<-2 > > >::type 		centimeter
typedef enum
youbot::TMCLCommandNumber 		CommandNumber
typedef
boost::units::make_scaled_unit
< si::length,
boost::units::scale
< 10, boost::units::static_rational
<-3 > > >::type 		millimeter
typedef
boost::units::make_scaled_unit
< si::time,
boost::units::scale
< 10, boost::units::static_rational
<-3 > > >::type 		millisecond

Enumerations

enum  CalibrationDirection { POSITIV, NEGATIV }
enum  DataTraceCntrollerMode {
  POSITION_CONTROL_RAD, POSITION_CONTROL_ENC, VELOCITY_CONTROL_RAD_SEC, VELOCITY_CONTROL_RPM,
  CURRENT_CONTROL_MODE, TORQUE_CONTROL_MODE, NOT_DEFINED
}
enum  GripperErrorFlags {
  STALL_GUARD_STATUS = 0x1, GRIPPER_OVER_TEMPERATURE = 0x2, PRE_WARNING_OVER_TEMPERATURE = 0x4, SHORT_TO_GROUND_A = 0x8,
  SHORT_TO_GROUND_B = 0x10, OPEN_LOAD_A = 0x20, OPEN_LOAD_B = 0x40, STAND_STILL = 0x80
}
enum  MailboxErrorFlags {
  OVER_CURRENT = 0x1, UNDER_VOLTAGE = 0x2, OVER_VOLTAGE = 0x4, OVER_TEMPERATURE = 0x8,
  MOTOR_HALTED = 0x10, HALL_SENSOR_ERROR = 0x20, VELOCITY_MODE = 0x200, POSITION_MODE = 0x400,
  TORQUE_MODE = 0x800, POSITION_REACHED = 0x4000, INITIALIZED = 0x8000, TIMEOUT = 0x10000,
  I2T_EXCEEDED = 0x20000
}
enum  ParameterType { MOTOR_CONTOLLER_PARAMETER, API_PARAMETER }
enum  severity_level {
  trace, debug, info, warning,
  error, fatal
}
enum  TMCLCommandNumber {
  ROR = 1, ROL = 2, MST = 3, MVP = 4,
  SAP = 5, GAP = 6, STAP = 7, RSAP = 8,
  SGP = 9, GGP = 10, STGP = 11, RSGP = 12,
  RFS = 13, SIO = 14, GIO = 15, SCO = 30,
  GCO = 31, CCO = 32, FIRMWARE_VERSION = 136
}
enum  TMCLModuleAddress { DRIVE = 0, GRIPPER = 1 }
enum  YouBotJointControllerMode {
  MOTOR_STOP = 0, POSITION_CONTROL = 1, VELOCITY_CONTROL = 2, NO_MORE_ACTION = 3,
  SET_POSITION_TO_REFERENCE = 4, CURRENT_MODE = 6, INITIALIZE = 7
}
enum  YouBotMailboxStatusFlags {
  NO_ERROR = 100, INVALID_COMMAND = 2, WRONG_TYPE = 3, INVALID_VALUE = 4,
  CONFIGURATION_EEPROM_LOCKED = 5, COMMAND_NOT_AVAILABLE = 6, REPLY_WRITE_PROTECTED = 8
}

Functions

struct youbot::mailboxOutputBuffer __attribute__ ((__packed__))
 BOOST_UNITS_STATIC_CONSTANT (centimeters, centimeter)
std::ostream & operator<< (std::ostream &os, ConfigFile &cf)
std::istream & operator>> (std::istream &is, ConfigFile &cf)

Variables

class youbot::YouBotSlaveMailboxMsg __attribute__

Typedef Documentation

typedef boost::units::make_scaled_unit<si::length, boost::units::scale<10, boost::units::static_rational<-2> > >::type youbot::centimeter

Definition at line 72 of file Units.hpp.

typedef enum youbot::TMCLCommandNumber youbot::CommandNumber
typedef boost::units::make_scaled_unit<si::length, boost::units::scale<10, boost::units::static_rational<-3> > >::type youbot::millimeter

Definition at line 71 of file Units.hpp.

typedef boost::units::make_scaled_unit<si::time, boost::units::scale<10, boost::units::static_rational<-3> > >::type youbot::millisecond

Definition at line 75 of file Units.hpp.

Enumeration Type Documentation

enum youbot::CalibrationDirection
Enumerator:
POSITIV 
NEGATIV 

Definition at line 70 of file YouBotJointParameter.hpp.

enum youbot::DataTraceCntrollerMode
Enumerator:
POSITION_CONTROL_RAD 
POSITION_CONTROL_ENC 
VELOCITY_CONTROL_RAD_SEC 
VELOCITY_CONTROL_RPM 
CURRENT_CONTROL_MODE 
TORQUE_CONTROL_MODE 
NOT_DEFINED 

Definition at line 75 of file DataTrace.hpp.

enum youbot::GripperErrorFlags
Enumerator:
STALL_GUARD_STATUS 
GRIPPER_OVER_TEMPERATURE 
PRE_WARNING_OVER_TEMPERATURE 
SHORT_TO_GROUND_A 
SHORT_TO_GROUND_B 
OPEN_LOAD_A 
OPEN_LOAD_B 
STAND_STILL 

Definition at line 149 of file ProtocolDefinitions.hpp.

enum youbot::MailboxErrorFlags
Enumerator:
OVER_CURRENT 
UNDER_VOLTAGE 
OVER_VOLTAGE 
OVER_TEMPERATURE 
MOTOR_HALTED 
HALL_SENSOR_ERROR 
VELOCITY_MODE 
POSITION_MODE 
TORQUE_MODE 
POSITION_REACHED 
INITIALIZED 
TIMEOUT 
I2T_EXCEEDED 

Definition at line 124 of file ProtocolDefinitions.hpp.

enum youbot::ParameterType
Enumerator:
MOTOR_CONTOLLER_PARAMETER 
API_PARAMETER 

Definition at line 144 of file ProtocolDefinitions.hpp.

enum youbot::severity_level
Enumerator:
trace 
debug 
info 
warning 
error 
fatal 

Definition at line 66 of file Logger.hpp.

enum youbot::TMCLCommandNumber
Enumerator:
ROR 
ROL 
MST 
MVP 
SAP 
GAP 
STAP 
RSAP 
SGP 
GGP 
STGP 
RSGP 
RFS 
SIO 
GIO 
SCO 
GCO 
CCO 
FIRMWARE_VERSION 

Definition at line 59 of file ProtocolDefinitions.hpp.

enum youbot::TMCLModuleAddress
Enumerator:
DRIVE 
GRIPPER 

Definition at line 104 of file ProtocolDefinitions.hpp.

enum youbot::YouBotJointControllerMode
Enumerator:
MOTOR_STOP 
POSITION_CONTROL 
VELOCITY_CONTROL 
NO_MORE_ACTION 
SET_POSITION_TO_REFERENCE 
CURRENT_MODE 
INITIALIZE 

Definition at line 98 of file ProtocolDefinitions.hpp.

enum youbot::YouBotMailboxStatusFlags
Enumerator:
NO_ERROR 
INVALID_COMMAND 
WRONG_TYPE 
INVALID_VALUE 
CONFIGURATION_EEPROM_LOCKED 
COMMAND_NOT_AVAILABLE 
REPLY_WRITE_PROTECTED 

Definition at line 138 of file ProtocolDefinitions.hpp.

Function Documentation

struct youbot::mailboxOutputBuffer youbot::__attribute__ ( (__packed__)  )
youbot::BOOST_UNITS_STATIC_CONSTANT ( centimeters  ,
centimeter   
)
std::ostream& youbot::operator<< ( std::ostream &  os,
ConfigFile &  cf 
)

Definition at line 121 of file ConfigFile.cpp.

std::istream& youbot::operator>> ( std::istream &  is,
ConfigFile &  cf 
)

Definition at line 160 of file ConfigFile.cpp.

Variable Documentation

class youbot::YouBotSlaveMsg youbot::__attribute__

youbot_driver
Author(s): Jan Paulus
autogenerated on Mon Oct 6 2014 09:08:03