Defines |
| #define | JID_ALL -1 |
| #define | JID_INVALID -2 |
| #define | MASK_OFF 1 |
| #define | MASK_ON 0 |
| #define | OFF 0 |
| #define | ON 1 |
|
| #define | E_ID -1 |
| | invalid joint(or sensor) id
|
|
| #define | SS_OVER_VOLTAGE 0x001 |
| #define | SS_OVER_LOAD 0x002 |
| #define | SS_OVER_VELOCITY 0x004 |
| #define | SS_OVER_CURRENT 0x008 |
| #define | SS_OVER_HEAT 0x010 |
| #define | SS_TORQUE_LIMIT 0x020 |
| #define | SS_VELOCITY_LIMIT 0x040 |
| #define | SS_FORWARD_LIMIT 0x080 |
| #define | SS_REVERSE_LIMIT 0x100 |
| #define | SS_POSITION_ERROR 0x200 |
| #define | SS_ENCODER_ERROR 0x400 |
| #define | SS_OTHER 0x800 |
| #define | SS_RESERVED1 0x1000 |
| #define | SS_RESERVED2 0x2000 |
| #define | SS_RESERVED3 0x4000 |
| #define | SS_EMERGENCY 0x8000 |
Enumerations |
| enum | joint_control_mode {
JCM_FREE,
JCM_POSITION,
JCM_TORQUE,
JCM_VELOCITY,
JCM_NUM
} |
Functions |
|
| int | number_of_joints () |
| | get the number of joints
|
| int | set_number_of_joints (int num) |
| | set the number of joints
|
| int | number_of_force_sensors () |
| | get the number of force sensors
|
| int | set_number_of_force_sensors (int num) |
| | set the number of force sensors
|
| int | number_of_gyro_sensors () |
| | get the number of gyro sensors
|
| int | set_number_of_gyro_sensors (int num) |
| | set the number of gyro sensors
|
| int | number_of_accelerometers () |
| | get the number of accelerometers
|
| int | set_number_of_accelerometers (int num) |
| | set the number of accelerometers
|
| int | number_of_attitude_sensors () |
| | get the number of attitude sensors
|
|
| int | read_actual_angle (int id, double *angle) |
| | read current joint angle[rad]
|
| int | read_actual_angles (double *angles) |
| | read array of current joint angles[rad]
|
| int | read_angle_offset (int id, double *offset) |
| | read offset value for joint[rad]
|
| int | write_angle_offset (int id, double offset) |
| | write offset value for joint[rad]
|
|
| int | read_power_state (int id, int *s) |
| | read power status of motor driver
|
| int | write_power_command (int id, int com) |
| | turn on/off power supply for motor driver
|
| int | read_power_command (int id, int *com) |
| | turn on/off power supply for motor driver
|
| int | read_servo_state (int id, int *s) |
| | read servo status
|
| int | read_servo_alarm (int id, int *a) |
| | read servo alarms
|
| int | read_control_mode (int id, joint_control_mode *s) |
| | read joint control mode
|
| int | write_control_mode (int id, joint_control_mode s) |
| | write joint control mode
|
| int | read_actual_torques (double *torques) |
| | read array of current joint torques[Nm]
|
| int | read_command_torque (int id, double *torque) |
| | read command torque[Nm]
|
| int | write_command_torque (int id, double torque) |
| | write command torque[Nm]
|
| int | read_command_torques (double *torques) |
| | read array of command torques[Nm]
|
| int | write_command_torques (const double *torques) |
| | write array of command torques[Nm]
|
| int | read_command_angle (int id, double *angle) |
| | read command angle[rad]
|
| int | write_command_angle (int id, double angle) |
| | write command angle[rad]
|
| int | read_command_angles (double *angles) |
| | read array of command angles[rad]
|
| int | write_command_angles (const double *angles) |
| | write array of command angles[rad]
|
| int | read_pgain (int id, double *gain) |
| | read P gain[Nm/rad]
|
| int | write_pgain (int id, double gain) |
| | write P gain[Nm/rad]
|
| int | read_dgain (int id, double *gain) |
| | read D gain[Nm/(rad/s)]
|
| int | write_dgain (int id, double gain) |
| | write D gain[Nm/(rad/s)]
|
| int | read_actual_velocity (int id, double *vel) |
| | read actual angular velocity[rad/s]
|
| int | read_command_velocity (int id, double *vel) |
| | read command angular velocity[rad/s]
|
| int | write_command_velocity (int id, double vel) |
| | write command angular velocity[rad/s]
|
| int | read_actual_velocities (double *vels) |
| | read actual angular velocities[rad/s]
|
| int | read_command_velocities (double *vels) |
| | read command angular velocities[rad/s]
|
| int | write_command_velocities (const double *vels) |
| | write command angular velocities[rad/s]
|
| int | write_servo (int id, int com) |
| | turn on/off joint servo
|
| int | read_driver_temperature (int id, unsigned char *v) |
| | read temperature of motor driver[Celsius]
|
| int | read_calib_state (int id, int *s) |
| | read callibration state of joint
|
| size_t | length_of_extra_servo_state (int id) |
| | get length of extra servo states
|
| int | read_extra_servo_state (int id, int *state) |
| | read extra servo states
|
|
| int | read_force_sensor (int id, double *forces) |
| | read output of force sensor
|
| int | read_force_offset (int id, double *offsets) |
| | read offset values for force sensor output
|
| int | write_force_offset (int id, double *offsets) |
| | write offset values for force sensor output
|
|
| int | read_gyro_sensor (int id, double *rates) |
| | read output of gyro sensor
|
| int | read_gyro_sensor_offset (int id, double *offset) |
| | read offset values for gyro sensor output
|
| int | write_gyro_sensor_offset (int id, double *offset) |
| | write offset values for gyro sensor output
|
|
| int | read_accelerometer (int id, double *accels) |
| | read output of accelerometer
|
| int | read_accelerometer_offset (int id, double *offset) |
| | read offset values for accelerometer output
|
| int | write_accelerometer_offset (int id, double *offset) |
| | write offset values for accelerometer output
|
|
| int | read_attitude_sensor (int id, double *att) |
| | read output of attitude sensor
|
| int | write_attitude_sensor_offset (int id, double *offset) |
|
| int | read_power (double *v, double *a) |
| | read status of power source
|
|
| int | read_temperature (int id, double *v) |
| | read thermometer
|
|
| int | open_iob (void) |
| | open connection with joint servo process
|
| int | close_iob (void) |
| | close connection with joint servo process
|
| int | reset_body (void) |
| int | lock_iob () |
| | lock access to iob
|
| int | unlock_iob () |
| | unlock access to iob
|
| int | read_lock_owner (pid_t *pid) |
| | read id of the process whic is locking access to iob
|
| unsigned long long | read_iob_frame () |
| int | number_of_substeps () |
| int | wait_for_iob_signal () |
| | wait until iob signal is issued
|
| int | set_signal_period (long period_ns) |
| | set the period of signals issued by wait_for_iob_signal()
|
| long | get_signal_period () |
| | get the period of signals issued by wait_for_iob_signal()
|
| int | initializeJointAngle (const char *name, const char *option) |
| | initialize joint angle
|
| int | read_digital_input (char *dinput) |
| | read_digital_input, non-applicable bits are nop
|
| int | length_digital_input () |
| | get_digital_input_length
|
| int | write_digital_output (const char *doutput) |
| | write_digital_output, non-applicable bits are nop
|
| int | write_digital_output_with_mask (const char *doutput, const char *dmask) |
| | write_digital_output, non-applicable bits are nop
|
| int | length_digital_output () |
| | get_digital_output_length
|
| int | read_digital_output (char *doutput) |
| | read_digital_output, non-applicable bits are nop
|
abstract interface for the robot hardware
Definition in file iob.h.
