seed::controller::SeedCommand Class Reference

#include <seed3_command.h>

Public Member Functions
void	actuateAbsolutePositionBySpeed (uint8_t _id, int16_t _speed, int32_t _position)
void	actuateAbsolutePositionByTime (uint8_t _id, uint16_t _time, int32_t _position)
void	actuateBySpeed (uint8_t _id, int16_t _speed)
void	actuateContinuousAbsolutePosition (uint8_t _id, uint16_t _time, int32_t _position)
void	actuateContinuousRelativePosition (uint8_t _id, uint16_t _time, int32_t _position)
void	actuateRelativePositionBySpeed (uint8_t _id, int16_t _speed, int32_t _position)
void	actuateRelativePositionByTime (uint8_t _id, int16_t _time, int32_t _position)
void	closeCom ()
void	closePort ()
std::vector< uint8_t >	getConnectedId ()
std::array< int, 3 >	getCurrent (uint8_t _id)
bool	getLockCode (uint8_t _id, uint8_t _mode)
std::array< int, 6 >	getOperationalInfo (uint8_t _id)
std::array< int, 3 >	getPosition (uint8_t _id)
int	io2int (std::string _parameter)
void	onServo (uint8_t _id, uint8_t _state)
void	openCom ()
bool	openPort (std::string _port, unsigned int _baud_rate)
bool	readSerialCommand (std::vector< uint8_t > &_receive_data, uint16_t _timeout=50)
void	runScript (uint8_t _id, uint8_t _script_no)
	SeedCommand ()
void	setAcDecelerationRate (uint8_t _id, uint16_t _acc, uint16_t _dec)
void	setAdParam (uint8_t _id, uint8_t _ad0, uint8_t _ad1, uint8_t _ad2, uint8_t _ad3)
void	setCurrentInstantaneous (uint8_t _id, uint16_t _max, uint16_t _time)
void	setDioParam (uint8_t _id, uint8_t _io0, uint8_t _io1, uint8_t _io2, uint8_t _io3)
void	setDummy (uint8_t _id, uint8_t _cmd)
void	setEditorVersion (uint8_t _id, const char *_ver)
void	setEmergencyParam (uint8_t _id, uint8_t _mode, uint8_t _io_no, uint8_t _io, uint8_t _reset)
void	setEncoderParam (uint8_t _id, uint16_t _encoder_pulse, uint16_t _motor_pulse)
void	setErrorMotionParam (uint8_t _id, uint8_t _temperature, uint8_t _motor, uint8_t _ot, uint8_t _voltage)
void	setFirmwareVersion (uint8_t _id, const char *_ver)
void	setIdParam (uint8_t _id, uint8_t _re_id)
void	setInPosition (uint8_t _id, uint16_t _value)
void	setLowerSoftwareLimit (uint8_t _id, int32_t _limit)
void	setMotorAdaptation (uint8_t _id, uint32_t _type, uint16_t _volt)
void	setMotorControlParameter1 (uint8_t _id, uint8_t _back_surge_a, uint8_t _back_surge_b, uint8_t _back_surge_c, uint8_t _oc, uint8_t _fst)
void	setMotorControlParameter1 (uint8_t _id, uint16_t _i_gain, uint8_t _d_gain, uint8_t _switch)
void	setMotorControlParameter2 (uint8_t _id, uint16_t _initial_speed, uint16_t _p_gain, uint8_t _correcting_gain)
void	setMotorCurrent (uint8_t _id, uint16_t _max, uint8_t _min, uint16_t _min_time)
void	setMotorCurrentParam (uint8_t _id, uint16_t _driver_max, uint16_t _motor_max, uint8_t _current_conversion)
void	setMotorError (uint8_t _id, uint16_t _time, uint32_t _pulse)
void	setMotorErrorLimit (uint8_t _id, uint8_t _temerature, uint8_t _minimum_voltage, uint8_t _maximum_voltage, uint8_t _current)
void	setMotorMaxSpeed (uint8_t _id, uint16_t _speed)
void	setMotorParam (uint8_t _id, uint8_t _mode, uint8_t _feedback)
void	setMotorRotation (uint8_t _id, uint8_t _pulse_division, uint8_t _encoder_division, uint8_t _motor_inverted, uint8_t _encoder_inverted, uint8_t _dc_inverted)
void	setOperationParam (uint8_t _id, uint8_t _auto_run, uint8_t _script, uint8_t _point_go, uint8_t _motor, uint8_t _io)
void	setOvertravelParam (uint8_t _id, uint8_t _mode, uint8_t _minus, uint8_t _plus, uint8_t _io)
void	setPosition (uint8_t _id, uint8_t _position, uint8_t _state)
void	setReleaseLock (uint8_t _id, uint8_t _type, uint16_t _code)
void	setResponseParam (uint8_t _id, uint8_t _mode)
void	setScriptData (uint8_t _id, uint8_t _number, uint8_t _start_line, uint8_t _end_line)
void	setSerialVersion (uint8_t _id, const char *_ver)
void	setStopModeParam (uint8_t _id, uint8_t _motor, uint8_t _script)
void	setTypeNumber (uint8_t _id, const char *_type)
void	setUpperSoftwareLimit (uint8_t _id, int32_t _limit)
void	stopMotor (uint8_t _id)
int	str2int (std::string _data)
void	waitForScriptEnd (int _number)
void	writeRom (uint8_t _id, uint8_t type)
void	writeScriptLine (uint8_t _id, uint8_t _line, const char *_command)
void	writeSerialCommand (uint8_t _id, uint8_t *_data)
void	writeSerialCommand (uint8_t _id, uint8_t _line, uint8_t *_data)
	~SeedCommand ()

Public Attributes
std::vector< uint8_t >	connected_id_
bool	is_open_
std::unordered_map< std::string, int16_t >	lock_code_info_
std::unordered_map< std::string, int32_t >	operational_info_
std::unordered_map< std::string, int32_t >	seed_info_

Protected Attributes
SerialCommunication	serial_com_

Private Attributes
unsigned int	check_sum_
unsigned int	count_
unsigned int	length_
std::vector< uint8_t >	send_data_

Detailed Description

Definition at line 47 of file seed3_command.h.

Constructor & Destructor Documentation

SeedCommand::SeedCommand

(

)

Definition at line 111 of file seed3_command.cpp.

SeedCommand::~SeedCommand

(

)

Definition at line 118 of file seed3_command.cpp.

Member Function Documentation

void SeedCommand::actuateAbsolutePositionBySpeed	(	uint8_t	_id,
		int16_t	_speed,
		int32_t	_position
	)

Definition at line 1049 of file seed3_command.cpp.

void SeedCommand::actuateAbsolutePositionByTime	(	uint8_t	_id,
		uint16_t	_time,
		int32_t	_position
	)

Definition at line 1036 of file seed3_command.cpp.

void SeedCommand::actuateBySpeed	(	uint8_t	_id,
		int16_t	_speed
	)

Definition at line 1088 of file seed3_command.cpp.

void SeedCommand::actuateContinuousAbsolutePosition	(	uint8_t	_id,
		uint16_t	_time,
		int32_t	_position
	)

Definition at line 1075 of file seed3_command.cpp.

void SeedCommand::actuateContinuousRelativePosition	(	uint8_t	_id,
		uint16_t	_time,
		int32_t	_position
	)

Definition at line 1062 of file seed3_command.cpp.

void SeedCommand::actuateRelativePositionBySpeed	(	uint8_t	_id,
		int16_t	_speed,
		int32_t	_position
	)

Definition at line 1023 of file seed3_command.cpp.

void SeedCommand::actuateRelativePositionByTime	(	uint8_t	_id,
		int16_t	_time,
		int32_t	_position
	)

Definition at line 1010 of file seed3_command.cpp.

void SeedCommand::closeCom

(

)

Definition at line 160 of file seed3_command.cpp.

void SeedCommand::closePort

(

)

Definition at line 132 of file seed3_command.cpp.

std::vector< uint8_t > SeedCommand::getConnectedId

(

)

Definition at line 817 of file seed3_command.cpp.

std::array< int, 3 > SeedCommand::getCurrent

(

uint8_t

_id

)

Definition at line 889 of file seed3_command.cpp.

bool SeedCommand::getLockCode	(	uint8_t	_id,
		uint8_t	_mode
	)

Definition at line 775 of file seed3_command.cpp.

std::array< int, 6 > SeedCommand::getOperationalInfo

(

uint8_t

_id

)

Definition at line 923 of file seed3_command.cpp.

std::array< int, 3 > SeedCommand::getPosition

(

uint8_t

_id

)

Definition at line 856 of file seed3_command.cpp.

int SeedCommand::io2int

(

std::string

_parameter

)

Definition at line 840 of file seed3_command.cpp.

void SeedCommand::onServo	(	uint8_t	_id,
		uint8_t	_state
	)

Definition at line 958 of file seed3_command.cpp.

void SeedCommand::openCom

(

)

Definition at line 138 of file seed3_command.cpp.

bool SeedCommand::openPort	(	std::string	_port,
		unsigned int	_baud_rate
	)

Definition at line 124 of file seed3_command.cpp.

bool SeedCommand::readSerialCommand	(	std::vector< uint8_t > &	_receive_data,
		uint16_t	_timeout = 50
	)

Definition at line 259 of file seed3_command.cpp.

void SeedCommand::runScript	(	uint8_t	_id,
		uint8_t	_script_no
	)

Definition at line 975 of file seed3_command.cpp.

void SeedCommand::setAcDecelerationRate	(	uint8_t	_id,
		uint16_t	_acc,
		uint16_t	_dec
	)

Definition at line 650 of file seed3_command.cpp.

void SeedCommand::setAdParam	(	uint8_t	_id,
		uint8_t	_ad0,
		uint8_t	_ad1,
		uint8_t	_ad2,
		uint8_t	_ad3
	)

Definition at line 568 of file seed3_command.cpp.

void SeedCommand::setCurrentInstantaneous	(	uint8_t	_id,
		uint16_t	_max,
		uint16_t	_time
	)

Definition at line 411 of file seed3_command.cpp.

void SeedCommand::setDioParam	(	uint8_t	_id,
		uint8_t	_io0,
		uint8_t	_io1,
		uint8_t	_io2,
		uint8_t	_io3
	)

Definition at line 554 of file seed3_command.cpp.

void SeedCommand::setDummy	(	uint8_t	_id,
		uint8_t	_cmd
	)

Definition at line 439 of file seed3_command.cpp.

void SeedCommand::setEditorVersion	(	uint8_t	_id,
		const char *	_ver
	)

Definition at line 351 of file seed3_command.cpp.

void SeedCommand::setEmergencyParam	(	uint8_t	_id,
		uint8_t	_mode,
		uint8_t	_io_no,
		uint8_t	_io,
		uint8_t	_reset
	)

Definition at line 470 of file seed3_command.cpp.

void SeedCommand::setEncoderParam	(	uint8_t	_id,
		uint16_t	_encoder_pulse,
		uint16_t	_motor_pulse
	)

Definition at line 425 of file seed3_command.cpp.

void SeedCommand::setErrorMotionParam	(	uint8_t	_id,
		uint8_t	_temperature,
		uint8_t	_motor,
		uint8_t	_ot,
		uint8_t	_voltage
	)

Definition at line 526 of file seed3_command.cpp.

void SeedCommand::setFirmwareVersion	(	uint8_t	_id,
		const char *	_ver
	)

Definition at line 333 of file seed3_command.cpp.

void SeedCommand::setIdParam	(	uint8_t	_id,
		uint8_t	_re_id
	)

Definition at line 456 of file seed3_command.cpp.

void SeedCommand::setInPosition	(	uint8_t	_id,
		uint16_t	_value
	)

Definition at line 637 of file seed3_command.cpp.

void SeedCommand::setLowerSoftwareLimit	(	uint8_t	_id,
		int32_t	_limit
	)

Definition at line 687 of file seed3_command.cpp.

void SeedCommand::setMotorAdaptation	(	uint8_t	_id,
		uint32_t	_type,
		uint16_t	_volt
	)

Definition at line 369 of file seed3_command.cpp.

void SeedCommand::setMotorControlParameter1	(	uint8_t	_id,
		uint8_t	_back_surge_a,
		uint8_t	_back_surge_b,
		uint8_t	_back_surge_c,
		uint8_t	_oc,
		uint8_t	_fst
	)

Definition at line 611 of file seed3_command.cpp.

void SeedCommand::setMotorControlParameter1	(	uint8_t	_id,
		uint16_t	_i_gain,
		uint8_t	_d_gain,
		uint8_t	_switch
	)

Definition at line 624 of file seed3_command.cpp.

void SeedCommand::setMotorControlParameter2	(	uint8_t	_id,
		uint16_t	_initial_speed,
		uint16_t	_p_gain,
		uint8_t	_correcting_gain
	)

Definition at line 663 of file seed3_command.cpp.

void SeedCommand::setMotorCurrent	(	uint8_t	_id,
		uint16_t	_max,
		uint8_t	_min,
		uint16_t	_min_time
	)

Definition at line 585 of file seed3_command.cpp.

void SeedCommand::setMotorCurrentParam	(	uint8_t	_id,
		uint16_t	_driver_max,
		uint16_t	_motor_max,
		uint8_t	_current_conversion
	)

Definition at line 397 of file seed3_command.cpp.

void SeedCommand::setMotorError	(	uint8_t	_id,
		uint16_t	_time,
		uint32_t	_pulse
	)

Definition at line 711 of file seed3_command.cpp.

void SeedCommand::setMotorErrorLimit	(	uint8_t	_id,
		uint8_t	_temerature,
		uint8_t	_minimum_voltage,
		uint8_t	_maximum_voltage,
		uint8_t	_current
	)

Definition at line 724 of file seed3_command.cpp.

void SeedCommand::setMotorMaxSpeed	(	uint8_t	_id,
		uint16_t	_speed
	)

Definition at line 598 of file seed3_command.cpp.

void SeedCommand::setMotorParam	(	uint8_t	_id,
		uint8_t	_mode,
		uint8_t	_feedback
	)

Definition at line 383 of file seed3_command.cpp.

void SeedCommand::setMotorRotation	(	uint8_t	_id,
		uint8_t	_pulse_division,
		uint8_t	_encoder_division,
		uint8_t	_motor_inverted,
		uint8_t	_encoder_inverted,
		uint8_t	_dc_inverted
	)

Definition at line 698 of file seed3_command.cpp.

void SeedCommand::setOperationParam	(	uint8_t	_id,
		uint8_t	_auto_run,
		uint8_t	_script,
		uint8_t	_point_go,
		uint8_t	_motor,
		uint8_t	_io
	)

Definition at line 498 of file seed3_command.cpp.

void SeedCommand::setOvertravelParam	(	uint8_t	_id,
		uint8_t	_mode,
		uint8_t	_minus,
		uint8_t	_plus,
		uint8_t	_io
	)

Definition at line 512 of file seed3_command.cpp.

void SeedCommand::setPosition	(	uint8_t	_id,
		uint8_t	_position,
		uint8_t	_state
	)

Definition at line 1109 of file seed3_command.cpp.

void SeedCommand::setReleaseLock	(	uint8_t	_id,
		uint8_t	_type,
		uint16_t	_code
	)

Definition at line 804 of file seed3_command.cpp.

void SeedCommand::setResponseParam	(	uint8_t	_id,
		uint8_t	_mode
	)

Definition at line 540 of file seed3_command.cpp.

void SeedCommand::setScriptData	(	uint8_t	_id,
		uint8_t	_number,
		uint8_t	_start_line,
		uint8_t	_end_line
	)

Definition at line 740 of file seed3_command.cpp.

void SeedCommand::setSerialVersion	(	uint8_t	_id,
		const char *	_ver
	)

Definition at line 315 of file seed3_command.cpp.

void SeedCommand::setStopModeParam	(	uint8_t	_id,
		uint8_t	_motor,
		uint8_t	_script
	)

Definition at line 484 of file seed3_command.cpp.

void SeedCommand::setTypeNumber	(	uint8_t	_id,
		const char *	_type
	)

Definition at line 300 of file seed3_command.cpp.

void SeedCommand::setUpperSoftwareLimit	(	uint8_t	_id,
		int32_t	_limit
	)

Definition at line 676 of file seed3_command.cpp.

void SeedCommand::stopMotor

(

uint8_t

_id

)

Definition at line 967 of file seed3_command.cpp.

int SeedCommand::str2int

(

std::string

_data

)

Definition at line 290 of file seed3_command.cpp.

void SeedCommand::waitForScriptEnd

(

int

_number

)

Definition at line 986 of file seed3_command.cpp.

void SeedCommand::writeRom	(	uint8_t	_id,
		uint8_t	type
	)

Definition at line 828 of file seed3_command.cpp.

void SeedCommand::writeScriptLine	(	uint8_t	_id,
		uint8_t	_line,
		const char *	_command
	)

Definition at line 753 of file seed3_command.cpp.

void SeedCommand::writeSerialCommand	(	uint8_t	_id,
		uint8_t *	_data
	)

Definition at line 176 of file seed3_command.cpp.

void SeedCommand::writeSerialCommand	(	uint8_t	_id,
		uint8_t	_line,
		uint8_t *	_data
	)

Definition at line 217 of file seed3_command.cpp.

Member Data Documentation

unsigned int seed::controller::SeedCommand::check_sum_

private

Definition at line 139 of file seed3_command.h.

std::vector<uint8_t> seed::controller::SeedCommand::connected_id_

Definition at line 66 of file seed3_command.h.

unsigned int seed::controller::SeedCommand::count_

private

Definition at line 139 of file seed3_command.h.

bool seed::controller::SeedCommand::is_open_

Definition at line 52 of file seed3_command.h.

unsigned int seed::controller::SeedCommand::length_

private

Definition at line 139 of file seed3_command.h.

std::unordered_map<std::string, int16_t> seed::controller::SeedCommand::lock_code_info_

Definition at line 65 of file seed3_command.h.

std::unordered_map<std::string, int32_t> seed::controller::SeedCommand::operational_info_

Definition at line 64 of file seed3_command.h.

std::unordered_map<std::string, int32_t> seed::controller::SeedCommand::seed_info_

Definition at line 63 of file seed3_command.h.

std::vector<uint8_t> seed::controller::SeedCommand::send_data_

private

Definition at line 140 of file seed3_command.h.

SerialCommunication seed::controller::SeedCommand::serial_com_

protected

Definition at line 143 of file seed3_command.h.

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

• seed3_command.h
• seed3_command.cpp