Class OpenCR

• Defined in File opencr.hpp

Class Documentation

class OpenCR

Public Functions

explicit OpenCR(const uint8_t &id)

virtual ~OpenCR()

template<typename DataByteT>
inline DataByteT get_data(const uint16_t &address, const uint16_t &length)

bool open_port(const std::string &usb_port)

bool set_baud_rate(const uint32_t &baud_rate)

uint16_t ping()

bool is_connect_manipulator()

bool is_connect_wheels()

void play_sound(uint8_t sound) const

void imu_recalibration()

opencr::IMU get_imu()

opencr::Battery get_battery()

void joints_torque(uint8_t onoff) const

void wheels_torque(uint8_t onoff) const

bool read_all()

std::array<double, 2> get_wheel_positions()

std::array<double, 2> get_wheel_velocities()

bool set_wheel_velocities(const std::vector<double> &velocities)

std::array<double, 4> get_joint_positions()

std::array<double, 4> get_joint_velocities()

double get_gripper_position()

double get_gripper_velocity()

bool set_joint_positions(const std::vector<double> &radians)

bool set_joint_profile_acceleration(const std::array<int32_t, 4> &acceleration)

bool set_joint_profile_velocity(const std::array<int32_t, 4> &velocity)

bool set_gripper_position(const double &meters)

bool set_gripper_profile_acceleration(const int32_t &acceleration)

bool set_gripper_profile_velocity(const int32_t &velocity)

bool set_home_pose()

bool set_init_pose()

bool set_zero_pose()

bool set_gripper_current()

bool open_gripper()

bool close_gripper()

bool init_gripper()

void send_heartbeat(const uint8_t &count)

void write_byte(const uint16_t &address, uint8_t data)

uint8_t read_byte(const uint16_t &address)