Class TeensyDriver

Defined in File teensy_driver.hpp

Class Documentation

class TeensyDriver

Public Functions

bool init(std::string ar_model, std::string port, int baudrate, int num_joints, bool velocity_control_enabled)

void update(std::vector<double> &pos_commands, std::vector<double> &vel_commands, std::vector<double> &joint_states, std::vector<double> &joint_velocities)

void getJointPositions(std::vector<double> &joint_positions)

void getJointVelocities(std::vector<double> &joint_velocities)

bool calibrateJoints()

bool resetEStop()

bool isEStopped()

TeensyDriver()