robotican_hardware::Servo Class Reference

#include <Servo.h>

Inheritance diagram for robotican_hardware::Servo:

List of all members.

Public Member Functions
virtual void	buildDevice ()
virtual void	deviceAck (const DeviceAck *ack)
JointInfo_t *	getJointInfo ()
	Servo (byte id, TransportLayer *transportLayer, byte pin, float a, float b, float max, float min, float initPos, std::string jointName)
void	setParam (float a, float b, float max, float min)
virtual void	update (const DeviceMessage *deviceMessage)
virtual void	write ()
Private Member Functions
bool	checkIfLastCmdChange ()
void	dynamicCallback (robotican_hardware_interface::RiCBoardServoConfig &config, uint32_t level)
Private Attributes
float	_a
float	_b
dynamic_reconfigure::Server < robotican_hardware_interface::RiCBoardServoConfig > ::CallbackType	_callbackType
bool	_isChangeParam
JointInfo_t	_jointInfo
float	_lastCmd
float	_max
float	_min
boost::recursive_mutex	_mutex
ros::NodeHandle	_nodeHandle
byte	_pin
dynamic_reconfigure::Server < robotican_hardware_interface::RiCBoardServoConfig >	_server

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Detailed Description

Definition at line 18 of file Servo.h.

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Constructor & Destructor Documentation

robotican_hardware::Servo::Servo	(	byte	id,
		TransportLayer *	transportLayer,
		byte	pin,
		float	a,
		float	b,
		float	max,
		float	min,
		float	initPos,
		std::string	jointName
	)

Definition at line 9 of file Servo.cpp.

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Member Function Documentation

void robotican_hardware::Servo::buildDevice

(

)

[virtual]

Implements robotican_hardware::Device.

Definition at line 80 of file Servo.cpp.

bool robotican_hardware::Servo::checkIfLastCmdChange

(

)

[private]

Definition at line 108 of file Servo.cpp.

void robotican_hardware::Servo::deviceAck

(

const DeviceAck *

ack

)

[virtual]

Reimplemented from robotican_hardware::Device.

Definition at line 97 of file Servo.cpp.

void robotican_hardware::Servo::dynamicCallback	(	robotican_hardware_interface::RiCBoardServoConfig &	config,
		uint32_t	level
	)		[private]

Definition at line 122 of file Servo.cpp.

JointInfo_t * robotican_hardware::Servo::getJointInfo

(

)

Definition at line 76 of file Servo.cpp.

void robotican_hardware::Servo::setParam	(	float	a,
		float	b,
		float	max,
		float	min
	)

Definition at line 113 of file Servo.cpp.

void robotican_hardware::Servo::update

(

const DeviceMessage *

deviceMessage

)

[virtual]

Implements robotican_hardware::Device.

Definition at line 37 of file Servo.cpp.

void robotican_hardware::Servo::write

(

)

[virtual]

Implements robotican_hardware::Device.

Definition at line 44 of file Servo.cpp.

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Member Data Documentation

float robotican_hardware::Servo::_a [private]

Definition at line 22 of file Servo.h.

float robotican_hardware::Servo::_b [private]

Definition at line 23 of file Servo.h.

dynamic_reconfigure::Server<robotican_hardware_interface::RiCBoardServoConfig>::CallbackType robotican_hardware::Servo::_callbackType [private]

Definition at line 30 of file Servo.h.

bool robotican_hardware::Servo::_isChangeParam [private]

Definition at line 34 of file Servo.h.

JointInfo_t robotican_hardware::Servo::_jointInfo [private]

Definition at line 26 of file Servo.h.

float robotican_hardware::Servo::_lastCmd [private]

Definition at line 27 of file Servo.h.

float robotican_hardware::Servo::_max [private]

Definition at line 24 of file Servo.h.

float robotican_hardware::Servo::_min [private]

Definition at line 25 of file Servo.h.

boost::recursive_mutex robotican_hardware::Servo::_mutex [private]

Definition at line 28 of file Servo.h.

ros::NodeHandle robotican_hardware::Servo::_nodeHandle [private]

Reimplemented from robotican_hardware::Device.

Definition at line 20 of file Servo.h.

byte robotican_hardware::Servo::_pin [private]

Definition at line 21 of file Servo.h.

dynamic_reconfigure::Server<robotican_hardware_interface::RiCBoardServoConfig> robotican_hardware::Servo::_server [private]

Definition at line 29 of file Servo.h.

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

• Servo.h
• Servo.cpp