This class controls the the SCHUNK five finger hand. More...

#include <SVHController.h>

Public Member Functions
bool	connect (const std::string &dev_name)
	Open serial device connection.
void	disableChannel (const SVHChannel &channel)
	Disable one or all motor channels.
void	disconnect ()
	disconnect serial device
void	enableChannel (const SVHChannel &channel)
	Enable one or all motor channels.
bool	getControllerFeedback (const SVHChannel &channel, SVHControllerFeedback &controller_feedback)
	request the latest stored controllerfeedback (current, position) from the controller.
void	getControllerFeedbackAllChannels (SVHControllerFeedbackAllChannels &controller_feedback)
	Get all currently available controllerfeedbacks.
bool	getCurrentSettings (const SVHChannel &channel, SVHCurrentSettings &current_settings)
	request the latest stored currentsettings from the controller
SVHFirmwareInfo	getFirmwareInfo ()
	get the latest stored Firmware information from the controller (NOT THE HARDWARE)
bool	getPositionSettings (const SVHChannel &channel, SVHPositionSettings &position_settings)
	request the latest stored positionsettings from the controller
unsigned int	getReceivedPackageCount ()
	request the number of correctly received packages. This number is refreshed every time the serialinterace calls the receivedPacket callback
unsigned int	getSentPackageCount ()
	requests the number of sent packages. Request ist transferred to the serial interface that knows about this count
bool	isEnabled (const SVHChannel &channel)
	Check if a channel was enabled.
void	receivedPacketCallback (const SVHSerialPacket &packet, unsigned int packet_count)
	callback function for interpretation of packages
void	requestControllerFeedback (const SVHChannel &channel)
	request feedback (position and current) to a specific channel
void	requestControllerState ()
	Request current controller state (mainly usefull for debug purposes)
void	requestCurrentSettings (const SVHChannel &channel)
	request the settings of the current controller for a specific channel
void	requestEncoderValues ()
	read out the mutipliers for the encoders from the hardware
void	requestFirmwareInfo ()
	request a transmission of formware information
void	requestPositionSettings (const SVHChannel &channel)
	request the settings of the position controller for a specific channel
void	resetPackageCounts ()
	resetPackageCounts sets the sent and reveived package counts to zero
void	setControllerTarget (const SVHChannel &channel, const int32_t &position)
	Set new position target for finger index.
void	setControllerTargetAllChannels (const std::vector< int32_t > &positions)
	Setting new position controller target for all fingers.
void	setCurrentSettings (const SVHChannel &channel, const SVHCurrentSettings &current_settings)
	activate a new set of current controller settings for a specific channel
void	setEncoderValues (const SVHEncoderSettings &encoder_settings)
	sends a new set of encodervalues to the hardware
void	setPositionSettings (const SVHChannel &channel, const SVHPositionSettings &position_settings)
	activate a new set of position controller settings for a specific channel
	SVHController ()
	Constructs a controller class for the SCHUNK five finger hand.
	~SVHController ()
Static Public Attributes
static const float	channel_effort_constants [9]
	Effort multipliers to calculate the torque of the motors for the individual channels.
static const char *	m_channel_description []
	Description values to get the corresponding string value to a channel enum.
Private Attributes
std::vector < SVHControllerFeedback >	m_controller_feedback
	ControllerFeedback indicates current position and current per finger.
SVHControllerState	m_controller_state
	Currently active controllerstate on the HW Controller (indicates if PWM active etc.)
std::vector< SVHCurrentSettings >	m_current_settings
	vector of current controller parameters for each finger
uint16_t	m_enable_mask
	Bitmask to tell which fingers are enabled.
SVHEncoderSettings	m_encoder_settings
	Currently active encoder settings.
SVHFirmwareInfo	m_firmware_info
	Latest firmware info.
std::vector< SVHPositionSettings >	m_position_settings
	vector of position controller parameters for each finger
unsigned int	m_received_package_count
	store how many packages where actually received. Updated every time the receivepacket callback is called
SVHSerialInterface *	m_serial_interface
	Serial interface for transmission and reveibing of data packets.

Detailed Description

This class controls the the SCHUNK five finger hand.

The controller manages all calls to the hardware and receives every feedback. All data is interpreted and stored in the apropriate objects that can be queried by others.

Note:: Be carefull what you change in here as it interfaces directly with the hardware

Definition at line 77 of file SVHController.h.

Constructor & Destructor Documentation

driver_svh::SVHController::SVHController ( )

Constructs a controller class for the SCHUNK five finger hand.

Definition at line 77 of file SVHController.cpp.

driver_svh::SVHController::~SVHController ( )

SCHUNK five finger hand destructor Destructor, disable the serial device and shut down hand as far as possible

Definition at line 88 of file SVHController.cpp.

Member Function Documentation

bool driver_svh::SVHController::connect ( const std::string & dev_name )

Open serial device connection.

Parameters:

dev_name System handle (filename in linux) to the device

Returns:: true if connect was successfull

Definition at line 100 of file SVHController.cpp.

void driver_svh::SVHController::disableChannel ( const SVHChannel & channel )

Disable one or all motor channels.

Parameters:

channel Motor to deactivate

Definition at line 262 of file SVHController.cpp.

void driver_svh::SVHController::disconnect ( )

disconnect serial device

Definition at line 116 of file SVHController.cpp.

void driver_svh::SVHController::enableChannel ( const SVHChannel & channel )

Enable one or all motor channels.

Parameters:

channel Motor to activate

Definition at line 174 of file SVHController.cpp.

bool driver_svh::SVHController::getControllerFeedback	(	const SVHChannel &	channel,
		SVHControllerFeedback &	controller_feedback
	)

request the latest stored controllerfeedback (current, position) from the controller.

Parameters:

channel	Motor to get the latest feedback to
ControllerFeedback	(current, encoder position) of the specified channel

Returns:: true if the feedback could be read, false otherwise

Controllerfeedback (crurrent,channel) is stored/updated in the controller once it is send by the hardware. This is the case once a controlCommand has been send or the feedback has specifically been requested by using the getControllerFeedback() function

Definition at line 553 of file SVHController.cpp.

void driver_svh::SVHController::getControllerFeedbackAllChannels ( SVHControllerFeedbackAllChannels & controller_feedback )

Get all currently available controllerfeedbacks.

Definition at line 567 of file SVHController.cpp.

bool driver_svh::SVHController::getCurrentSettings	(	const SVHChannel &	channel,
		SVHCurrentSettings &	current_settings
	)

request the latest stored currentsettings from the controller

Parameters:

channel	Motor to get the currentsettings for
position_settings	current settings to be returned

Returns:: true if the request was succesfull false otherwise

Definition at line 586 of file SVHController.cpp.

SVHFirmwareInfo driver_svh::SVHController::getFirmwareInfo ( )

get the latest stored Firmware information from the controller (NOT THE HARDWARE)

Returns:: the Firmware information

Definition at line 600 of file SVHController.cpp.

bool driver_svh::SVHController::getPositionSettings	(	const SVHChannel &	channel,
		SVHPositionSettings &	position_settings
	)

request the latest stored positionsettings from the controller

Parameters:

channel	Motor to get the positionsettings for
position_settings	position settings to be returned

Returns:: true if the request was succesfull false otherwise

Definition at line 572 of file SVHController.cpp.

unsigned int driver_svh::SVHController::getReceivedPackageCount ( )

request the number of correctly received packages. This number is refreshed every time the serialinterace calls the receivedPacket callback

Returns:: number of packages correctly received

Definition at line 626 of file SVHController.cpp.

unsigned int driver_svh::SVHController::getSentPackageCount ( )

requests the number of sent packages. Request ist transferred to the serial interface that knows about this count

Returns:: number of packages correctly sent

Definition at line 613 of file SVHController.cpp.

bool driver_svh::SVHController::isEnabled ( const SVHChannel & channel )

Check if a channel was enabled.

Parameters:

channel to check

Returns:: True if an enable has been send to the hardware

Definition at line 631 of file SVHController.cpp.

void driver_svh::SVHController::receivedPacketCallback	(	const SVHSerialPacket &	packet,
		unsigned int	packet_count
	)

callback function for interpretation of packages

Parameters:

packet	SerialPacket containing the raw data, integrity should have been checked by SerialInterface
packet_count	count of received packets

Definition at line 460 of file SVHController.cpp.

void driver_svh::SVHController::requestControllerFeedback ( const SVHChannel & channel )

request feedback (position and current) to a specific channel

Parameters:

channel Motorchannel the feedback should be provided for

Definition at line 326 of file SVHController.cpp.

void driver_svh::SVHController::requestControllerState ( )

Request current controller state (mainly usefull for debug purposes)

Definition at line 319 of file SVHController.cpp.

void driver_svh::SVHController::requestCurrentSettings ( const SVHChannel & channel )

request the settings of the current controller for a specific channel

Parameters:

channel Motor to request the settings for

Definition at line 384 of file SVHController.cpp.

void driver_svh::SVHController::requestEncoderValues ( )

read out the mutipliers for the encoders from the hardware

Definition at line 425 of file SVHController.cpp.

void driver_svh::SVHController::requestFirmwareInfo ( )

request a transmission of formware information

Definition at line 452 of file SVHController.cpp.

void driver_svh::SVHController::requestPositionSettings ( const SVHChannel & channel )

request the settings of the position controller for a specific channel

Parameters:

channel Motor to request the settings for

Definition at line 351 of file SVHController.cpp.

void driver_svh::SVHController::resetPackageCounts ( )

resetPackageCounts sets the sent and reveived package counts to zero

Definition at line 605 of file SVHController.cpp.

void driver_svh::SVHController::setControllerTarget	(	const SVHChannel &	channel,
		const int32_t &	position
	)

Set new position target for finger index.

Parameters:

channel	Motorchanel to set the target for
position	Target position for the channel given in encoder Ticks

Definition at line 128 of file SVHController.cpp.

void driver_svh::SVHController::setControllerTargetAllChannels ( const std::vector< int32_t > & positions )

Setting new position controller target for all fingers.

Parameters:

positions Target positions for all fingers, Only the first nine values will be evaluated

Definition at line 151 of file SVHController.cpp.

void driver_svh::SVHController::setCurrentSettings	(	const SVHChannel &	channel,
		const SVHCurrentSettings &	current_settings
	)

activate a new set of current controller settings for a specific channel

Parameters:

channel	Motor the new current controller settings will be applied to
current_settings	new settings of the current controller

Definition at line 399 of file SVHController.cpp.

void driver_svh::SVHController::setEncoderValues ( const SVHEncoderSettings & encoder_settings )

sends a new set of encodervalues to the hardware

Parameters:

encoder_settings to set (prescalers)

Definition at line 432 of file SVHController.cpp.

void driver_svh::SVHController::setPositionSettings	(	const SVHChannel &	channel,
		const SVHPositionSettings &	position_settings
	)

activate a new set of position controller settings for a specific channel

Parameters:

channel	Motor the new position controller settings will be applied to
position_settings	new settings of the position controller

Definition at line 358 of file SVHController.cpp.

Member Data Documentation

const float driver_svh::SVHController::channel_effort_constants [static]

Initial value:

Effort multipliers to calculate the torque of the motors for the individual channels.

Values are given in Nm/mA to be directly compatible to current output of the driver.

Definition at line 247 of file SVHController.h.

const char * driver_svh::SVHController::m_channel_description [static]

Initial value:

 {
  "Thumb_Flexion",
  "Thumb_Opposition", 
  "Index_Finger_Distal",
  "Index_Finger_Proximal",
  "Middle_Finger_Distal",
  "Middle_Finger_Proximal",
  "Ring_Finger",
  "Pinky",
  "Finger_Spread",
  NULL
}

Description values to get the corresponding string value to a channel enum.

Description of the channels for enum matching:

Definition at line 244 of file SVHController.h.

std::vector<SVHControllerFeedback> driver_svh::SVHController::m_controller_feedback [private]

ControllerFeedback indicates current position and current per finger.

Definition at line 262 of file SVHController.h.

SVHControllerState driver_svh::SVHController::m_controller_state [private]

Currently active controllerstate on the HW Controller (indicates if PWM active etc.)

Definition at line 265 of file SVHController.h.

std::vector<SVHCurrentSettings> driver_svh::SVHController::m_current_settings [private]

vector of current controller parameters for each finger

Definition at line 256 of file SVHController.h.