Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
SerRelayBoard Class Reference

#include <SerRelayBoard.h>

List of all members.

Public Types

enum  RelBoardCmd {
  CMD_SET_CHARGE_RELAY = 1, CMD_RESET_POS_CNT = 2, CMD_QUICK_STOP = 4, CMD_SET_RELAY1 = 8,
  CMD_SET_RELAY2 = 16, CMD_SET_RELAY3 = 32, CMD_SET_RELAY4 = 64, CMD_SET_RELAY5 = 128,
  CMD_SET_RELAY6 = 256, CMD_ZERO_GYRO = 512
}
enum  RelBoardConfig {
  CONFIG_HAS_IOBOARD = 1, CONFIG_HAS_USBOARD = 2, CONFIG_HAS_GYROBOARD = 4, CONFIG_HAS_RADARBOARD1 = 8,
  CONFIG_HAS_RADARBOARD2 = 16, CONFIG_HAS_DRIVES = 32
}
enum  RelBoardReturns {
  NO_ERROR = 0, NOT_INITIALIZED = 1, GENERAL_SENDING_ERROR = 2, TOO_LESS_BYTES_IN_QUEUE = 3,
  NO_MESSAGES = 4, CHECKSUM_ERROR = 5
}
enum  TypeLCD { LCD_20CHAR_TEXT, LCD_60CHAR_TEXT, RELAY_BOARD_1_4 }

Public Member Functions

int evalRxBuffer ()
int getAnalogIn (int *piAnalogIn)
int getBatteryVoltage ()
int getChargeCurrent ()
int getDigIn ()
bool init ()
bool isEMStop ()
bool isScannerStop ()
bool reset ()
int sendRequest ()
 SerRelayBoard (std::string ComPort, int ProtocolVersion=1)
int setDigOut (int iChannel, bool bOn)
bool shutdown ()
 ~SerRelayBoard ()

Protected Member Functions

void convDataToSendMsg (unsigned char cMsg[])
bool convRecMsgToData (unsigned char cMsg[])
void rxCharArray ()
void txCharArray ()

Protected Attributes

bool m_bComInit
char m_cDebugRearLeft [4]
char m_cDebugRearRight [4]
char m_cSoftEMStop
unsigned char m_cTextDisplay [60]
double m_dLastPosRearLeft
double m_dLastPosRearRight
int m_iChargeCurrent
int m_iCmdRelayBoard
int m_iConfigRelayBoard
int m_iDigIn
int m_iIOBoardDigOut
int m_iMotRearLeftStatus
int m_iMotRearRightStatus
int m_iNumBytesSend
int m_iPosMeasMotRearLeftEnc
int m_iPosMeasMotRearRightEnc
int m_iProtocolVersion
int m_iRelBoardAnalogIn [4]
int m_iRelBoardBattVoltage
int m_iRelBoardKeyPad
int m_iRelBoardStatus
int m_iRelBoardTempSensor
int m_iTypeLCD
int m_iUSBoardSensorActive
int m_iVelCmdMotLeftEncS
int m_iVelCmdMotRearLeftEncS
int m_iVelCmdMotRearRightEncS
int m_iVelCmdMotRightEncS
int m_iVelMeasMotRearLeftEncS
int m_iVelMeasMotRearRightEncS
Mutex m_Mutex
int m_NUM_BYTE_SEND
SerialIO m_SerIO
std::string m_sNumComPort

Detailed Description

Driver class for communication with a Neobotix RelayBoard. Uses RS422 with 420 kBaud.

Definition at line 68 of file SerRelayBoard.h.


Member Enumeration Documentation

Enumerator:
CMD_SET_CHARGE_RELAY 
CMD_RESET_POS_CNT 
CMD_QUICK_STOP 
CMD_SET_RELAY1 
CMD_SET_RELAY2 
CMD_SET_RELAY3 
CMD_SET_RELAY4 
CMD_SET_RELAY5 
CMD_SET_RELAY6 
CMD_ZERO_GYRO 

Definition at line 110 of file SerRelayBoard.h.

Enumerator:
CONFIG_HAS_IOBOARD 
CONFIG_HAS_USBOARD 
CONFIG_HAS_GYROBOARD 
CONFIG_HAS_RADARBOARD1 
CONFIG_HAS_RADARBOARD2 
CONFIG_HAS_DRIVES 

Definition at line 124 of file SerRelayBoard.h.

Enumerator:
NO_ERROR 
NOT_INITIALIZED 
GENERAL_SENDING_ERROR 
TOO_LESS_BYTES_IN_QUEUE 
NO_MESSAGES 
CHECKSUM_ERROR 

Definition at line 100 of file SerRelayBoard.h.

Enumerator:
LCD_20CHAR_TEXT 
LCD_60CHAR_TEXT 
RELAY_BOARD_1_4 

Definition at line 134 of file SerRelayBoard.h.


Constructor & Destructor Documentation

SerRelayBoard::SerRelayBoard ( std::string  ComPort,
int  ProtocolVersion = 1 
)

Definition at line 80 of file SerRelayBoard.cpp.

Definition at line 107 of file SerRelayBoard.cpp.


Member Function Documentation

void SerRelayBoard::convDataToSendMsg ( unsigned char  cMsg[]) [protected]

Definition at line 349 of file SerRelayBoard.cpp.

bool SerRelayBoard::convRecMsgToData ( unsigned char  cMsg[]) [protected]

Definition at line 484 of file SerRelayBoard.cpp.

Definition at line 113 of file SerRelayBoard.cpp.

int SerRelayBoard::getAnalogIn ( int *  piAnalogIn)

Definition at line 329 of file SerRelayBoard.cpp.

Definition at line 90 of file SerRelayBoard.h.

Definition at line 94 of file SerRelayBoard.h.

Definition at line 344 of file SerRelayBoard.cpp.

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Definition at line 196 of file SerRelayBoard.cpp.

void SerRelayBoard::rxCharArray ( ) [protected]

Definition at line 244 of file SerRelayBoard.cpp.

int SerRelayBoard::setDigOut ( int  iChannel,
bool  bOn 
)

Definition at line 268 of file SerRelayBoard.cpp.

Definition at line 207 of file SerRelayBoard.cpp.

void SerRelayBoard::txCharArray ( ) [protected]

Member Data Documentation

bool SerRelayBoard::m_bComInit [protected]

Definition at line 206 of file SerRelayBoard.h.

char SerRelayBoard::m_cDebugRearLeft[4] [protected]

Definition at line 167 of file SerRelayBoard.h.

char SerRelayBoard::m_cDebugRearRight[4] [protected]

Definition at line 163 of file SerRelayBoard.h.

char SerRelayBoard::m_cSoftEMStop [protected]

Definition at line 162 of file SerRelayBoard.h.

unsigned char SerRelayBoard::m_cTextDisplay[60] [protected]

Definition at line 157 of file SerRelayBoard.h.

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int SerRelayBoard::m_iDigIn [protected]

Definition at line 200 of file SerRelayBoard.h.

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int SerRelayBoard::m_iTypeLCD [protected]

Definition at line 155 of file SerRelayBoard.h.

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std::string SerRelayBoard::m_sNumComPort [protected]

Definition at line 144 of file SerRelayBoard.h.


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


cob_relayboard
Author(s): Christian Connette
autogenerated on Thu Aug 27 2015 12:45:34